madflight FC2 - ESP32-S3 Flight Controller
This is a flight controller based on the ESP32-S3 dual core microcontroller.
Made with DIY in mind: easy accessible 2.54mm pin headers, standard mounting points to fit quadcopter frames, but can also be used for non-drone projects.
For additional flexibility: the included DC-DC board can be mounted at the top or bottom (see pictures). Or can be omitted when you use an external BEC or if want to build an ultralight a 1S battery setup.
The ESP32-S3 has 3 hardware UARTs that can be connected to any of the GPIOs.
Specifications
Specifications FC2 Flight Controller
- Processor: ESP32-S3 with 4 MB flash and 2 MB psram
- Gyro/Acc: ICM-42688-P
- Magnetometer: QMC6309
- Barometer: HP203B
- Battery Monitor: INA226 with 16 bit accuracy
- Micro SDCARD with MMC interface
- RGB LED
- Operates with 1-4S LiPo/LiIon battery
- Standard M4 mounting holes with 30.5 mm spacing
- 18 GPIOs accessible via 2.54mm pin headers
- 6 GND and 6 Power pins on pin header
- 4 brushed motor drivers
- 4 ESC pins
- Reset (EN) and Boot (BT) buttons
- Dimensions: 40.5 x 40.5 x 5 mm
- Weight: 5.1 gr (without pins, DC-DC)
Specifications DC-DC Converter
- Output: 5V 2A continous / 3A peak
- Input: 6.5~20V (for 2-4S battery)
- Dimensions: 20 x 10 x 5 mm
- Weight: 1.8 gr
Arduino IDE and PlatformIO Setup
See here
Suggested Pinouts
Pinout for a Quadcopter
| Row | Pin1 | Pin2 | Pin3 | Pin4 | Pin5 | Pin6 | Pin7 | Pin8 | Pin9 |
|---|---|---|---|---|---|---|---|---|---|
| RowD | G48 | G47 | G46 | ||||||
| RowC | GND | +5V | G5 | G8 | G26 | G38 | G41 | GND | +5V |
| RowB | GND | +5V | G6 RX1 <- GPS TX | G9 TX1 -> GPS RX | G33 SDA | G39 SCL | G42 | GND | +5V |
| RowA (board edge) | GND | +5V | G7 RX0 <- Receiver TX | G21 TX0 -> Receiver TX | G34 | G40 | G45 | GND | +5V |
Connect 4 ESCs to the round SMD pads marked S1-S4 at the corners (GPIO1-4), and the battery+ (round) and battery- (square) pads.
Or connect brushed motors to the square SMD pads marked M1-M4 at the corners (GPIO1-4), and the round battery+ pads.
Pinout for a Airplane
| Row | Pin1 | Pin2 | Pin3 | Pin4 | Pin5 | Pin6 | Pin7 | Pin8 | Pin9 |
|---|---|---|---|---|---|---|---|---|---|
| RowD | G48 | G47 | G46 | ||||||
| RowC | GND | +5V | G5 Rudder Servo | G8 | G26 | G38 | G4 Elevator Servo | +5V | GND |
| RowB | GND | +5V | G6 RX1 <- GPS TX | G9 TX1 -> GPS RX | G33 SDA | G39 SCL | G42 Aileron Servo | +5V | GND |
| RowA (board edge) | GND | +5V | G7 RX0 <- Receiver TX | G21 TX0 -> Receiver TX | G34 | G40 | G45 Motor ESC | +5V | GND |
Arduino IDE Setup
madflight for ESP32-S3/ESP32 requires Arduino-ESP32 v3.x.x
Start the Arduino IDE and select menu Tools->Board Manager to install this software.
PlatformIO Setup
-
Clone or download a madflight release to your harddisk
-
Start PlatformIO and open folder
madflight/examples
Note:
Espressiv stopped Arduino framework support for PlatformIO. Arduino 2 is the lastest Espressiv supported framework version, madflight should still compile with Arduino 2.
If you need Arduino 3, you could try pioarduino
Pinout FC2
Set #define MF_BOARD "brd/madflight_FC2.h" to use this configuration, it can be modified with madflight_config configuration settings in your program.
| GPIO | External Pin Function | Internal Function |
|---|---|---|
| 0 | [SMD Pad] | BT (Boot) button |
| 1 | [SMD Pad] OUT0 - S1 ESC output / M1 brushed motor | |
| 2 | [SMD Pad] OUT1 - S2 ESC output / M2 brushed motor | |
| 3 | [SMD Pad] OUT2 - S3 ESC output / M3 brushed motor | |
| 4 | [SMD Pad] OUT3 - S4 ESC output / M4 brushed motor | |
| 5 | [RowC,Pin3] OUT7 | |
| 6 | [RowB,Pin3] RX1 <- GPS TX | |
| 7 | [RowA,Pin3] RX0 <- Receiver TX | |
| 8 | [RowC,Pin4] | |
| 9 | [RowB,Pin4] TX1 -> GPS RX | |
| 10 | I2C0_SDA (bar,bat,mag) | |
| 11 | I2C0_SCL (bar,bat,mag) | |
| 12 | RGBLED | |
| 13 | IMU_INT | |
| 14 | SPI0_MISO (imu) | |
| 15 | SPI0_MOSI (imu) | |
| 16 | SPI0_SCLK (imu) | |
| 17 | IMU_CS | |
| 18 | IMU_CLKIN | |
| 21 | [RowA,Pin4] | |
| 26 | [RowC,Pin5] RX0 <- Receiver TX | |
| 33 | [RowB,Pin5] I2C1_SDA | |
| 34 | [RowC,Pin6] | |
| 35 | SD_CMD (bbx) | |
| 36 | SD_CLK (bbx) | |
| 37 | SD_DAT (bbx) | |
| 38 | [RowC,Pin6] | |
| 39 | [RowB,Pin6] I2C1_SCL | |
| 40 | [RowA,Pin6] | |
| 41 | [RowC,Pin7] OUT6 | |
| 42 | [RowB,Pin7] OUT5 | |
| 43 | [SMD Pad] Programmer TX | |
| 44 | [SMD Pad] Programmer RX | |
| 45 | [RowA,Pin7] OUT4 | |
| 46 | [RowD,Pin9] | |
| 47 | [RowD,Pin8] | |
| 48 | [RowD,Pin7] |
Use #define MF_BOARD "brd/madflight_FC2.h" instead of #define MF_BOARD "brd/default.h" to include this pinout, and use madflight_config to override the settings.
Or, just copy the following config to your program.
//Config for madflight FC2
const char madflight_board[] = R""(
//==========================================//
// external components - modify accordingly //
//==========================================//
//--- RCL --- Remote Controller Link (use serial bus -OR- ppm pin)
rcl_gizmo NONE // options: NONE, MAVLINK, CRSF, SBUS, DSM, PPM
rcl_num_ch 8 // number of channels
rcl_deadband 0 // center stick deadband
rcl_ser_bus 0
pin_rcl_ppm -1
//--- GPS ---
gps_gizmo NONE // options: NONE, UBLOX
gps_baud 0 // use 0 for auto baud
gps_ser_bus 1
//--- RDR --- Radar (use serial bus -OR- trig+echo pins)
rdr_gizmo NONE // options: NONE, LD2411S, LD2413, USD1, SR04
rdr_baud 0
rdr_ser_bus -1
pin_rdr_trig -1
pin_rdr_echo -1
//--- AHR --- AHRS (keep MAHONY, unless you want to experiment)
ahr_gizmo MAHONY // options: MAHONY, MAHONY_BF, MADGWICK, VQF
//--- Serial bus 0 ---
pin_ser0_rx 7
pin_ser0_tx 21
//--- Serial bus 1 ---
pin_ser1_rx 6
pin_ser1_tx 9
//--- SPI bus 1 ---
pin_spi1_miso -1
pin_spi1_mosi -1
pin_spi1_sclk -1
//--- I2C Bus 1 ---
pin_i2c1_sda 33
pin_i2c1_scl 39
//--- OUT Pins ---
pin_out0 1 //S1 SMD pad at corner
pin_out1 2 //S2 SMD pad at corner
pin_out2 3 //S3 SMD pad at corner
pin_out3 4 //S4 SMD pad at corner
pin_out4 45 //pin with 5v and gnd next to it
pin_out5 42 //pin with 5v and gnd next to it
pin_out6 41 //pin with 5v and gnd next to it
pin_out7 5 //pin with 5v and gnd next to it
pin_out8 -1
pin_out9 -1
pin_out10 -1
pin_out11 -1
pin_out12 -1
pin_out13 -1
pin_out14 -1
pin_out15 -1
//=====================================//
// internal components - do not modify //
//=====================================//
//--- IMU --- Inertial Measurement Unit (use spi -OR- i2c bus)
imu_gizmo ICM42688 // options: NONE, BMI270, MPU6000, MPU6050, MPU6500, MPU9150, MPU9250, ICM45686, ICM42688
imu_bus_type SPI // options: SPI, I2C (not all combinations of gizmo and bus_type are supported)
imu_align CW0 //board edge with pins is forward direction - options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
imu_spi_bus 0 //spi
pin_imu_cs 17 //spi
pin_imu_int 13 //spi and i2c
imu_i2c_bus -1 //i2c
imu_i2c_adr 0 //i2c: enter decimal i2c address, not hex (use 0 for default i2c address)
// IMPORTANT: the IMU sensor should be the ONLY sensor on the selected bus
//--- BAR --- Barometer
bar_gizmo HP203B // options: NONE, BMP390, BMP388, BMP280, MS5611, HP203B
bar_i2c_adr 118 //always 118 (0x76) for HP203B
bar_i2c_bus 0
//--- MAG --- Magnetometer
mag_gizmo QMC6309 // options: NONE, QMC5883, QMC6309, RM3100
mag_align CW180 //board edge with pins is forward direction - options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
mag_i2c_adr 124 //always 124 (0x7C) for QMC6309
mag_i2c_bus 0
//--- BAT --- Battery Monitor (use i2c bus -OR- adc pins)
bat_gizmo INA226 // options: NONE, ADC, INA226, INA228
bat_i2c_adr 64
bat_i2c_bus 0
pin_bat_i -1
pin_bat_v -1
bat_cal_v 1 //adc voltage scale, value is: actual_voltage_in_v / adc_reading
bat_cal_i 0.002 //adc current scale, value is: actual_current_in_a / adc_reading; for ina226/228: rshunt value in ohm
//--- BBX --- Black Box Data Logger (use spi -OR- mmc)
bbx_gizmo SDMMC // options: NONE, SDSPI, SDMMC
pin_bbx_cs -1 // spi
bbx_spi_bus -1 // spi
pin_mmc_dat 37 // mmc
pin_mmc_clk 36 // mmc
pin_mmc_cmd 35 // mmc
//--- LED ---
led_gizmo RGB // options: NONE, HIGH_IS_ON, LOW_IS_ON, RGB
pin_led 12
//--- SPI bus 0 ---
pin_spi0_miso 14
pin_spi0_mosi 15
pin_spi0_sclk 16
//--- I2C Bus 0 ---
pin_i2c0_sda 11
pin_i2c0_scl 10
)""; //end of madflight_board