On esp32 wroom board , mpu 6050 on i2c , elrs . Gyro accelerometer and elrs receiver all detected on betaflight .

I hav connected pin out 4 to brushed motor driver (fet ) . But on motor test no motor spool up . I hav connected battery to the motor fet and pin out 4 to pwm input .

Is there any specific setting for brushed ?

Hii! i am using a normal ESP32 board and there's continuous error. i have tried 4-5 times. i am using the latest firmware from releases.

as title

Incorrect yaw direction in mixer requires to enable Motor direction is revered option in configurator if motors spinning in normal direction.

1. When I try to update the ESC firmware via the flight controller it fails. ESP32S3

2. All ESCs cannot be read. always

I would like to use built-in wifi as transmitter and receiver instead of external transceiver. It would be light weight so can be used for Brushed nano drone.

hi
after using Arduino for check I2c address i have tried to reinstall firmware Alpha5, but when i flash i have this error message:

how i can solve it ?

Hey! The flight controller is working! but there is a problem the drone keeps wobbling a lot which I think it shouldn't... anything I can do to help it?

I'm sorry, but this project seems like one big red error :-(

c:\users\majo.platformio\packages\toolchain-xtensa\xtensa-lx106-elf\include\c++\4.8.2\bits\random.tcc:1644:28: error:
call of overloaded 'log(double)' is ambiguous

lib\MPU6050\src/helper_3dmath.h:74:54: error: 'sqrt' was not declared in this scope
lib\MPU6050\src/helper_3dmath.h:154:46: error: 'acos' was not declared in this scope
lib\MPU6050\src/helper_3dmath.h:165:48: error: 'sin' was not declared in this scope
lib\MPU6050\src/helper_3dmath.h:174:35: error: there are no arguments to 'acos' that depend on a template parameter, s
o a declaration of 'acos' must be available [-fpermissive]
lib\Espfc\src/Filter.h:80:31: error: 'M_PI' was not declared in this scope
etc...
Environment d1_mini [ERROR]
:-(

i was trying to compile the V0.1.0 alpha and it kept failing to include "math.h", so i renamed your "Math.h" (and its namespace) and now it works. I am compiling from platformIO from MS Visual Studio Code (because i dont like AtomIO), so it seems like VScode just can't distinguish between "Math" and "math".

So I connected a GY-521 I2C to a Wemos D1 mini.

And the yaw rotates slowly..

Tried with all PID loop freqs, 3.3V and 5V, and I used the latest release, can it be an issue with my gyro, can someone confirm it works fine?

So I was thinking, if it is possible/favorable to make an esp32 chip based FC?
If its made with open source in mind, clones can exist, so it would not be a real "product", like ESP-CAM.

Pros:
-now iNav has an ESP32 target too
-it could be incredibly cheap opposed to stm32 based ~$60 FCs
-all chips can fit on one side
Cons:
-VTX will never happen on this chip

@rtlopez What are your thoughts on this?
Thanks!

Hi I am using "30A Brushless Motor Speed Controller RC Bec Esc for Quadcopter Plane Helicopter" ESC

and for some reason the motors are not spinning... I tried all the available protocols but no luck :( What could be the reason for this problem and how do I solve it.

I found from source code that 1/3, 32/33, 17/16 pins used for serial and I tried all. But I can't get ELRS working.

I guess 1/3 is not possible to use. (UART1 in BF terminology)
Is 17/16 (UART3 in BF terminology) best suited for connecting ELRS received?

(I fail to compile for ESP8266)

I started to make a new target for the ESP32-C3.

Now betaflight can connect and it looks like it works, but some lines produce errors and needs to be rewritten as I saw, but I lack the knowledge to do so.. (now they are just commented out to see if it works):

Can you help me fix these please, do you have an idea how to do this, should I make a pullrq into a new branch?
Thanks!

Hi friends
this ESP Wroom 32 can work fine ?
the pin are differents...

why was the project not further developed? Is it simply a lack of time and interest or were there major technical problems? I would be interested in putting it into operation and possibly developing it further. Are the components newly developed or is it more or less a port of Betaflight? Thanks very much!

I have an esp32-s3 board. tried. But it doesn't work. It may be a USB virtual serial port problem. Because I can feel the CPU temperature. Can anyone tell me where the serial port file is? Or how to modify it. I'm new to PlatformIO.

I try to edit this code

with this code:

WiFi.persistent(false);

    if(_model.config.wireless.mode == WIRELESS_MODE_AP){
      WiFi.mode(WIFI_AP);
      status = WiFi.softAP(_model.config.wireless.ssidAp, _model.config.wireless.passAp);
      _server.begin(_model.config.wireless.port);
      _model.state.serial[SERIAL_SOFT_0].stream = &_adapter;
      _model.state.localIp = WiFi.softAPIP();
      _initialized = true;
      _model.logger.info().log(F("WIFI EV")).log(F("IP")).logln(WiFi.softAPIP());
    }else{
      WiFi.mode((WiFiMode_t)_model.config.wireless.mode);
      status = WiFi.begin(_model.config.wireless.ssid, _model.config.wireless.pass);
    }

on CLI set AP mode:
set wifi_mode AP
set wifi_ssid_ap autoplantbali
set wifi_pass_ap autoplantbali
set wifi_tcp_port 1111

setup pc windows/linux using virtual serial:
https://hackaday.io/page/1304-virtual-serial-port-tunnel-to-use-with-esp-link

betaflight configurator can connect with esp32 and android betaflight configurator with settings: tcp://192.168.4.1:1111

maybe plus 1 input button to turn off and on access point mode. so there is no need to connect using a USB cable and 3 serials can be fully used.
I see the wifi code is connected to softserial, what impact will it have?

Hi, there is no issue what so ever.
I am just amazed by this project, I love quads And I have a not so secert affair with the ESP8266, so let me know how may I help.

I will start rigth away with my build, I have a frame that can use this FC.

Hi friends
i have install baro BMP280 with connection 3.3v GND SCL(I22) SDA (I21) but not work.
I have connected the 3.3V and GND directly to 3.3V and GND of MPU6500.

Hi, I'm using dshot300 with Bidir on. But I got 100% error in betaflight and RPM 0 all the time. I've tested it on a stm32f3 and it is working. hence the ESC is working correctly. is this normal?

Hi friends,
my next steps with Esp-fc that i want proceed is to use:

1. GPS Beitian 880 connected in UART2 or UART1 (mmmm....i have many dubts tht work fine on UART1.
2. install camera and VTX
3. in Softserial port put external OSD (similar MinimOSD or FrskyOSD).

Do you think that is posible all this ?

thanks much

hi @rtlopez

I'm trying to make a custom FC board measuring 30x30mm and hole size 25.5x25.5mm for frame 65 - 85mm.
Can I include your GitHub link in the board I created?

Top Side

Bottom Side

i noticed since Alpha0 that it compiles for the ESP32 and seems to work, but crashes after like 5-10 seconds, and when i checked the error backtrace, it was pointing towards the task_wdt_isr, so i added disableCore0WDT(); and now it just seems to work fine. i assume you are aware of the existance of the Core0 WDT, which will timout after a few second when running a task on core 0, unless it's reset (esp_task_wdt_reset(); ) (which in many example sketches on the internet is sneakily done with a delay() (or i2s_write_bytes(), btw).
(to be clear: i added disableCore0WDT() as the fist like of otherTask(), but it probably also works from setup());

-> betaflight configurator 10.9.0
-> board esp8266 wemos d1 mini
-> mpu6050

after flash can't connect to betaflight configurator

I have flashed the esp32 firmware to esp32 nodemcu and wired up mpy6050 as per the image on the docs . But in betaflight there is no gyro .

I think the image is for spi connection and mpu6050 is i2c . Where do I connect mpu6050 on esp32 ?

Hello folks,

first of all that is an outstanding project thanks!

Currently I'm not able to use SBUS, however PPM is working, but I want to use SBUS :(.

My setup:
*Flysky FS-i6x + FSIA10B
*ESP32 (non mini)
*I changed on the remote Flysky FS-i6x & Betaflight UI to SBUS & changed the wiring of the receiver FSIA10B accordingly for SBUS

Hey, I noticed there is no place for the community under this project to exchange, @rtlopez would you be willing to create a Discord or some sort? I think it could be a faster solution for exchanges than GitHub issues ;)

hi..
I tried rp2040 zero with mpu9250, set the PID loop frequency to 2khz after that it can't be connected to betaflight configurator 10.9.0, if set to 1khz it still runs

note: this issue is of relatively low importance and has no urgency whatsoever.

i ran into several errors when compiling (in atom)

see screen-snip: https://ibb.co/dZaAic

also note: i installed atom earlier today for the purposes of flashing this software once and then using betaflight, so if this is a complicated issue then i might not be apt at following instructions)

hi friends
i have install MPU6500 using this pinout but not work:

i have connected with 3.3V (the same in Inav where work fine).

Hello!
I've tried to use CLI ti change motor spinning direction from N to R (set output_0 M R 1000 1500 2000). But It has no effect.
I also try to play with limits like change 1000-2000 to 2000-1000 and have same result.

Maybe I do something in a wrong way ?

Hi
Thank you for your works.
Is it possible to control multicopter via esp-fc with WiFi?
If yes is there android app or web based access?

First of all, many thanks to @rtlopez for a great project!

I try to connect Betaflight to esp32 over WiFi, but receive error Failed to open serial port.
In serial console all work perfect:

# status 
ESPF ESP32 v0.0.0 0000000 Jan 22 2024 15:11:44 8.4.0 201103
STATUS: 
    cpu freq: 240 MHz
  gyro clock: 8000 Hz
   gyro rate: 2000 Hz
   loop rate: 250 Hz
  mixer rate: 250 Hz
  accel rate: 500 Hz
   baro rate: 83 Hz
    mag rate: 75 Hz

 gyro device: MPU6050/I2C
 baro device: BMP280/I2C
  mag device: HMC5883L/I2C
     rx rate: 43
     rx lpfs: 0.00, 0.14

 arming disabled: 16777222

Also, Betaflight configurator work fine over COM port.

To connect over WiFi I set in COM port console SSID, password, wifi_mode to 1. After save and reboot. On this step, esp32 present in router clients list. Also, I can ping it. In betaflight configurator I select Manual selection on Welcome page. In port I enter esp32 ip adress: tcp://192.168.1.36. And receive described above arror.
Betaflight configurator ver. 10.8 and 10.9 were tried.

this is support lolin s2 mini?

Hi
i have install firmware and setup it.
When i test it after armed and try to fly the quad roll forward and is not stable.
I have used module GY-87 but also with only MPU6050 i have same problem.
How i can solve ?

Hello,

currently the sensor MPU-92.65 is working in betaflight and the sensor MPU-9250/6500 is not working (Flag: NO_GYRO)

The interesting part is, if I plug in the sensor MPU-92.65 open betaflight and connect & then unplug the sensor and plug in the
sensor MPU-9250/6500 gyro is working. I think there is a problem during initialization. But I'm not sure how to fix.

MPU-92.65 is working

MPU-9250/6500 is not working (Flag: NO_GYRO)

Hi
it's posible activate Airmode ?
in Configuration Tab i have saw that is not posibile.
Using CLI it's posible ?

The crossfire RX receiver is receiving no input.
The telemetry is connected and configured.
The receiver is working with other F4 or F7 controllers.
Any possible suggestions?

Hi,

First of all thanks for this project, I'm trying to tinker around and upload your code into a nodeMCU v3 (esp-8266). Although, I'm having some issue when trying to compile the code, and can't figure what's wrong.

The errors seems to be in the Debug.h file. Possibly some issue with my environment, but any help is thanked.

I'm leaving here the logs in case you want to check it out.

Indexing .pio\build\d1_mini\lib6f2\libAHRS.a
Archiving .pio\build\d1_mini\libb39\libEspSoftSerial.a
Compiling .pio\build\d1_mini\lib156\ESP8266WiFi\ESP8266WiFi.cpp.o
Compiling .pio\build\d1_mini\lib156\ESP8266WiFi\ESP8266WiFiAP.cpp.o
Archiving .pio\build\d1_mini\libaa4\libEspWire.a
Archiving .pio\build\d1_mini\lib9c2\libEscDriver.a
Indexing .pio\build\d1_mini\libb39\libEspSoftSerial.a
Indexing .pio\build\d1_mini\libaa4\libEspWire.a
Indexing .pio\build\d1_mini\lib9c2\libEscDriver.a
Archiving .pio\build\d1_mini\libb6e\libWire.a
Compiling .pio\build\d1_mini\lib156\ESP8266WiFi\ESP8266WiFiGeneric.cpp.o
In file included from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Stream.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/HardwareSerial.h:32,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Arduino.h:288,
from lib\Espfc\src/Device/InputPPM.h:5,
from lib\Espfc\src\Device\InputPPM.cpp:1:
lib\Espfc\src/debug.h:19:8: error: 'Stream' does not name a type; did you mean 'Stream_h'?
19 | static Stream * _debugStream = nullptr;
| ^~~~~~
| Stream_h
lib\Espfc\src/debug.h: In function 'void Espfc::D(T)':
lib\Espfc\src/debug.h:27:6: error: '_debugStream' was not declared in this scope
27 | if(_debugStream)
| ^~~~~~~~~~~~
lib\Espfc\src/debug.h: In function 'void Espfc::D(T, Args ...)':
lib\Espfc\src/debug.h:37:6: error: '_debugStream' was not declared in this scope
37 | if(_debugStream)
| ^~~~~~~~~~~~
Indexing .pio\build\d1_mini\libb6e\libWire.a
Compiling .pio\build\d1_mini\lib156\ESP8266WiFi\ESP8266WiFiGratuitous.cpp.o
Archiving .pio\build\d1_mini\lib618\libSPI.a
Compiling .pio\build\d1_mini\lib156\ESP8266WiFi\ESP8266WiFiMulti.cpp.o
In file included from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Stream.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/HardwareSerial.h:32,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Arduino.h:288,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\EEPROM\EEPROM.cpp:22:
lib\Espfc\src/debug.h:19:8: error: 'Stream' does not name a type; did you mean 'Stream_h'?
19 | static Stream * _debugStream = nullptr;
| ^~~~~~
| Stream_h
lib\Espfc\src/debug.h: In function 'void Espfc::D(T)':
lib\Espfc\src/debug.h:27:6: error: '_debugStream' was not declared in this scope
27 | if(_debugStream)
| ^~~~~~~~~~~~
lib\Espfc\src/debug.h: In function 'void Espfc::D(T, Args ...)':
lib\Espfc\src/debug.h:37:6: error: '_debugStream' was not declared in this scope
37 | if(_debugStream)
| ^~~~~~~~~~~~
lib\Espfc\src/SerialManager.h: In member function 'int Espfc::SerialManager::begin()':
lib\Espfc\src/debug.h:21:28: error: '_debugStream' was not declared in this scope
21 | #define LOG_SERIAL_INIT(p) _debugStream = p;
| ^~~~~~~~~~~~
lib\Espfc\src/SerialManager.h:104:11: note: in expansion of macro 'LOG_SERIAL_INIT'
104 | LOG_SERIAL_INIT(port)
| ^~~~~~~~~~~~~~~
Indexing .pio\build\d1_mini\lib618\libSPI.a
Compiling .pio\build\d1_mini\lib156\ESP8266WiFi\ESP8266WiFiSTA-WPS.cpp.o
*** [.pio\build\d1_mini\libc0d\Espfc\Device\InputPPM.cpp.o] Error 1
*** [.pio\build\d1_mini\lib602\EEPROM\EEPROM.cpp.o] Error 1
In file included from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Stream.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/HardwareSerial.h:32,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Arduino.h:288,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\CertStoreBearSSL.h:23,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\CertStoreBearSSL.cpp:20:
lib\Espfc\src/debug.h:19:8: error: 'Stream' does not name a type; did you mean 'Stream_h'?
19 | static Stream * _debugStream = nullptr;
| ^~~~~~
| Stream_h
lib\Espfc\src/debug.h: In function 'void Espfc::D(T)':
lib\Espfc\src/debug.h:27:6: error: '_debugStream' was not declared in this scope
27 | if(_debugStream)
| ^~~~~~~~~~~~
lib\Espfc\src/debug.h: In function 'void Espfc::D(T, Args ...)':
lib\Espfc\src/debug.h:37:6: error: '_debugStream' was not declared in this scope
37 | if(_debugStream)
| ^~~~~~~~~~~~
In file included from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Stream.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/HardwareSerial.h:32,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Arduino.h:288,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Updater.h:4,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\BearSSLHelpers.h:28,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\BearSSLHelpers.cpp:23:
lib\Espfc\src/debug.h:19:8: error: 'Stream' does not name a type; did you mean 'Stream_h'?
19 | static Stream * _debugStream = nullptr;
| ^~~~~~
| Stream_h
lib\Espfc\src/debug.h: In function 'void Espfc::D(T)':
lib\Espfc\src/debug.h:27:6: error: '_debugStream' was not declared in this scope
27 | if(_debugStream)
| ^~~~~~~~~~~~
lib\Espfc\src/debug.h: In function 'void Espfc::D(T, Args ...)':
lib\Espfc\src/debug.h:37:6: error: '_debugStream' was not declared in this scope
37 | if(_debugStream)
| ^~~~~~~~~~~~
*** [.pio\build\d1_mini\src\main.cpp.o] Error 1
*** [.pio\build\d1_mini\lib156\ESP8266WiFi\CertStoreBearSSL.cpp.o] Error 1
*** [.pio\build\d1_mini\lib156\ESP8266WiFi\BearSSLHelpers.cpp.o] Error 1
In file included from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Stream.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/HardwareSerial.h:32,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Arduino.h:288,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\WiFiClient.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\ESP8266WiFi.h:39,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\ESP8266WiFiAP.cpp:25:
lib\Espfc\src/debug.h:19:8: error: 'Stream' does not name a type; did you mean 'Stream_h'?
19 | static Stream * _debugStream = nullptr;
| ^~~~~~
| Stream_h
lib\Espfc\src/debug.h: In function 'void Espfc::D(T)':
lib\Espfc\src/debug.h:27:6: error: '_debugStream' was not declared in this scope
27 | if(_debugStream)
| ^~~~~~~~~~~~
lib\Espfc\src/debug.h: In function 'void Espfc::D(T, Args ...)':
lib\Espfc\src/debug.h:37:6: error: '_debugStream' was not declared in this scope
37 | if(_debugStream)
| ^~~~~~~~~~~~
In file included from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Stream.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/HardwareSerial.h:32,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Arduino.h:288,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\WiFiClient.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\ESP8266WiFi.h:39,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\ESP8266WiFi.cpp:25:
lib\Espfc\src/debug.h:19:8: error: 'Stream' does not name a type; did you mean 'Stream_h'?
19 | static Stream * _debugStream = nullptr;
| ^~~~~~
| Stream_h
lib\Espfc\src/debug.h: In function 'void Espfc::D(T)':
lib\Espfc\src/debug.h:27:6: error: '_debugStream' was not declared in this scope
27 | if(_debugStream)
| ^~~~~~~~~~~~
lib\Espfc\src/debug.h: In function 'void Espfc::D(T, Args ...)':
lib\Espfc\src/debug.h:37:6: error: '_debugStream' was not declared in this scope
37 | if(_debugStream)
| ^~~~~~~~~~~~
In file included from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Stream.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/HardwareSerial.h:32,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Arduino.h:288,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\WiFiClient.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\ESP8266WiFi.h:39,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\ESP8266WiFiGeneric.cpp:29:
lib\Espfc\src/debug.h:19:8: error: 'Stream' does not name a type; did you mean 'Stream_h'?
19 | static Stream * _debugStream = nullptr;
| ^~~~~~
| Stream_h
lib\Espfc\src/debug.h: In function 'void Espfc::D(T)':
lib\Espfc\src/debug.h:27:6: error: '_debugStream' was not declared in this scope
27 | if(_debugStream)
| ^~~~~~~~~~~~
lib\Espfc\src/debug.h: In function 'void Espfc::D(T, Args ...)':
lib\Espfc\src/debug.h:37:6: error: '_debugStream' was not declared in this scope
37 | if(_debugStream)
| ^~~~~~~~~~~~
*** [.pio\build\d1_mini\lib156\ESP8266WiFi\ESP8266WiFiAP.cpp.o] Error 1
In file included from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Stream.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/HardwareSerial.h:32,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Arduino.h:288,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\WiFiClient.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\ESP8266WiFi.h:39,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\ESP8266WiFiMulti.h:30,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\ESP8266WiFiMulti.cpp:27:
lib\Espfc\src/debug.h:19:8: error: 'Stream' does not name a type; did you mean 'Stream_h'?
19 | static Stream * _debugStream = nullptr;
| ^~~~~~
| Stream_h
lib\Espfc\src/debug.h: In function 'void Espfc::D(T)':
lib\Espfc\src/debug.h:27:6: error: '_debugStream' was not declared in this scope
27 | if(_debugStream)
| ^~~~~~~~~~~~
lib\Espfc\src/debug.h: In function 'void Espfc::D(T, Args ...)':
lib\Espfc\src/debug.h:37:6: error: '_debugStream' was not declared in this scope
37 | if(_debugStream)
| ^~~~~~~~~~~~
*** [.pio\build\d1_mini\lib156\ESP8266WiFi\ESP8266WiFi.cpp.o] Error 1
In file included from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Stream.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/HardwareSerial.h:32,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\cores\esp8266/Arduino.h:288,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\WiFiClient.h:25,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\ESP8266WiFi.h:39,
from C:\Users{user}.platformio\packages\framework-arduinoespressif8266\libraries\ESP8266WiFi\src\ESP8266WiFiSTA-WPS.cpp:26:
lib\Espfc\src/debug.h:19:8: error: 'Stream' does not name a type; did you mean 'Stream_h'?
19 | static Stream * _debugStream = nullptr;
| ^~~~~~
| Stream_h
lib\Espfc\src/debug.h: In function 'void Espfc::D(T)':
lib\Espfc\src/debug.h:27:6: error: '_debugStream' was not declared in this scope
27 | if(_debugStream)
| ^~~~~~~~~~~~
lib\Espfc\src/debug.h: In function 'void Espfc::D(T, Args ...)':
lib\Espfc\src/debug.h:37:6: error: '_debugStream' was not declared in this scope
37 | if(_debugStream)
| ^~~~~~~~~~~~
*** [.pio\build\d1_mini\lib156\ESP8266WiFi\ESP8266WiFiMulti.cpp.o] Error 1
*** [.pio\build\d1_mini\lib156\ESP8266WiFi\ESP8266WiFiSTA-WPS.cpp.o] Error 1
*** [.pio\build\d1_mini\lib156\ESP8266WiFi\ESP8266WiFiGeneric.cpp.o] Error 1

Thanks

I cannot perform PIO test on your project. They are missing quite a few libraries in the Test folder, so can you fix it for me?

It would be great if there were any videos of an actual drone flying using this flight controller.
I like to see how stable the flight is in your own tests!

Fantastic, did you build one (YouTube or photo) and have you developt more on this issue like esp32? Did see dshot but in the code dshot150-300 and 600-1200 missing?
Anyway interesting code 👍

Hi
i have install last version of firmware for my ESP32 but when i connect battery not arm the quad.
I use MPU6050 and my radio is Flysky I6.

how i can solve ?

thanks

Hi
i have saw that in the firmware is only available Angle mode that is very difficult to drive the quad.
It's posibile add also Acro mode or flight mode more slow and easy to drive the quad ?

thanks much