MultiWii Drone for ESP32 MH ET Live MiniKit with ESP-NOW

This is a modified version of the MultiWii brushed drone flight controller, adapted for the ESP32 MH ET Live MiniKit development board with ESP-NOW wireless communication.

Hardware Requirements

ESP32 Board

ESP32 MH ET Live MiniKit (or compatible ESP32 DevKit)

Sensors

MPU6050 - 6-axis IMU (Gyroscope + Accelerometer)
- Connected via I2C
- SDA: GPIO21
- SCL: GPIO22
- VCC: 3.3V
- GND: GND
- AD0: Connect to GND (sets I2C address to 0x68)

IMPORTANT - MPU6050 AD0 Pin: The AD0 pin on the MPU6050 determines its I2C address:

AD0 → GND: Address = 0x68 (default, used by this firmware)
AD0 → VCC: Address = 0x69

If AD0 is left floating (unconnected), the address may be unstable and cause I2C communication failures. Always connect AD0 to GND.

Motors (Brushed DC Motors)

4x Brushed DC motors with compatible ESCs
Motor connections:
- Motor 1 (Rear Right): GPIO13
- Motor 2 (Front Right): GPIO25
- Motor 3 (Rear Left): GPIO14
- Motor 4 (Front Left): GPIO27

Additional Components

Buzzer: GPIO32 (optional but recommended)
LED: GPIO33
Battery Voltage Monitor: GPIO34 (ADC input)

Buzzer Circuit (2N2222 Driver)

The ESP32 GPIO can only source ~12mA, which isn't enough for most buzzers. Use a 2N2222 NPN transistor to drive the buzzer:

Schematic:

        +3.3V (or +5V)
            │
            │
         [Buzzer]
            │
            ├───────|◁────────┐  (1N4148 flyback diode, cathode to +V)
            │                 │
            C                 │
      ┌─────┤ 2N2222          │
      │     B                 │
      │     │                 │
      │  [1kΩ]                │
      │     │                 │
      │  GPIO 32              │
      │                       │
      E                       │
      │                       │
     GND ─────────────────────┘

Components:

Component	Value	Purpose
R1	1kΩ	Base current limiter
Q1	2N2222	NPN switching transistor
D1	1N4148	Flyback diode (optional, recommended for magnetic buzzers)
Buzzer	3.3V-5V	Passive buzzer recommended (responds to 2kHz PWM)

2N2222 Pinout (TO-92 package, flat side facing you):

  E  B  C
  │  │  │
  └──┴──┘

E (Emitter, left) → GND
B (Base, center) → 1kΩ resistor → GPIO 32
C (Collector, right) → Buzzer negative terminal

Notes:

Use a passive buzzer for best results - it will produce a 2kHz tone from the PWM signal
Active buzzers work but the PWM is unnecessary (simple HIGH/LOW would suffice)
The flyback diode protects the transistor from back-EMF (only needed for magnetic buzzers, not piezo)
Buzzer positive terminal connects to +3.3V or +5V depending on buzzer rating

Pin Configuration

Component	GPIO Pin	Notes
MPU6050 SDA	21	I2C Data
MPU6050 SCL	22	I2C Clock
Motor 1	13	PWM Output (LEDC Channel 0) - Safe pin
Motor 2	25	PWM Output (LEDC Channel 1) - Safe pin
Motor 3	14	PWM Output (LEDC Channel 2) - Safe pin
Motor 4	27	PWM Output (LEDC Channel 3) - Safe pin
Buzzer	32	PWM Output (LEDC Channel 4)
LED	33	Digital Output - Safe pin
Battery Voltage	34	ADC1_CH6 (input only)

Motor Layout (QUAD X Configuration)

The motors are arranged in an X configuration with the following positions:

Motor #	GPIO Pin	Physical Position	Rotation Direction
Motor 1	13	Rear Right	CW (Clockwise)
Motor 2	25	Front Right	CCW (Counter-Clockwise)
Motor 3	14	Rear Left	CCW (Counter-Clockwise)
Motor 4	27	Front Left	CW (Clockwise)

Visual Diagram (Top View):

            FRONT
              ↑

        M4 ⟲      ⟳ M2
         [27]      [25]
            \  ✈  /
            /     \
         [14]      [13]
        M3 ⟲      ⟳ M1

            REAR

Legend:

⟳ = Clockwise (CW) rotation
⟲ = Counter-Clockwise (CCW) rotation
Numbers in brackets [ ] = GPIO pins

Important: Diagonal motors spin in the same direction. This configuration provides yaw control through differential thrust.

Power Requirements

CRITICAL: USB vs Battery Power

Power Source	Max Current	Suitable For
USB (5V)	~500mA	Configuration, IMU calibration, communication testing
1S LiPo (3.7V)	5-10A+	Full motor operation (REQUIRED)

⚠️ WARNING: USB power alone (~500mA) cannot power the motors. Attempting to spin motors on USB will cause:

ESP32 resets (brown-out detection triggered)
Erratic behavior
Potential damage to USB port

Always connect a LiPo battery before arming the drone.

What Works on USB Power Only

✅ ESP-NOW communication testing
✅ IMU/gyro calibration
✅ MultiWiiConf GUI connection
✅ LED and buzzer testing
✅ Configuration changes
❌ Motor spinning (will reset ESP32)

Motor Current Draw

4 brushed motors can draw 2-4A total at full throttle, with peak currents even higher during startup. A 1S LiPo with at least 25C rating is recommended.

Battery Voltage Monitoring (1S LiPo)

The drone uses GPIO34 (ADC1_CH6) for battery voltage monitoring. For a 1S LiPo battery (3.0V - 4.2V):

Option 1: Simple 2:1 Voltage Divider (Recommended)

Since 4.2V exceeds the ESP32's safe ADC range (3.6V max with 11dB attenuation), use a simple voltage divider:

Circuit:

Battery+ ----[R1: 10kΩ]----+----[R2: 10kΩ]---- GND
                            |
                         GPIO34

Components:

R1: 10kΩ resistor (1% tolerance preferred)
R2: 10kΩ resistor (1% tolerance preferred)

Result:

4.2V battery → 2.1V at GPIO34 ✓ Safe!
3.0V battery → 1.5V at GPIO34 ✓ Safe!

Option 2: 11dB Attenuation Only (Risky)

If you don't want a voltage divider, you can rely on the ESP32's 11dB attenuation, but:

⚠️ Max safe voltage: ~3.6V
⚠️ Full charge (4.2V) will exceed this and may damage the ADC
⚠️ Not recommended unless you strictly limit battery voltage to 3.5V

Calibration

After building your voltage divider:

Measure actual battery voltage with a multimeter (e.g., 4.15V)
Upload code and read the reported voltage via serial monitor or configurator

Calculate VBATSCALE:

VBATSCALE = (reported_value × 10) / actual_voltage

Update config.h line 925 with the new VBATSCALE value
Re-upload and verify the voltage matches your multimeter

Default VBATSCALE: 42 (may need adjustment based on your voltage divider)

Voltage Thresholds (1S LiPo)

Update these values in config.h lines 927-929:

VBATLEVEL_WARN1: 37 (3.7V - low battery warning)
VBATLEVEL_WARN2: 35 (3.5V - very low battery)
VBATLEVEL_CRIT: 33 (3.3V - critical, land immediately!)

Note: Values are in 0.1V units (e.g., 37 = 3.7V)

I2C Wiring Best Practices

The MPU6050 communicates with the ESP32 via I2C. Proper wiring is critical for reliable gyro/accelerometer data.

Do NOT Twist I2C Wires

Unlike differential signals (USB, Ethernet), I2C is single-ended. Twisting SDA and SCL together causes:

Capacitive coupling between lines - clock edges induce noise on data
Crosstalk - fast SCL transitions corrupt SDA readings
Increased capacitance - slows signal edges, causes communication failures

Recommended Wiring

Keep wires short - under 10cm is ideal for 400kHz I2C
Run SDA and SCL parallel with 1-2mm gap between them
Include a ground wire running alongside (reduces noise pickup)
Route away from motor wires and the ESP32 antenna area
Use shielded cable for longer runs (shield grounded at one end only)

Pull-up Resistors

The MPU6050 module typically includes 4.7kΩ pull-ups. If using a bare chip:

Add 4.7kΩ pull-up resistors from SDA and SCL to 3.3V
For longer wires, use 2.2kΩ pull-ups

Mounting the MPU6050

If mounting the IMU above the ESP32:

Vibration isolation is critical - use foam tape or rubber standoffs
Heat from the ESP32 can cause gyro drift - maximize airflow
EMI from WiFi radio may affect readings - consider a ground plane between them

PWM Frequency Tuning

The motor PWM frequency affects performance characteristics of brushed motors.

Current Setting

#define PWM_FREQUENCY 16000  // 16kHz - balanced setting

Edit in Output_ESP32.cpp:16

Frequency Trade-offs

Frequency	Pros	Cons
8kHz	Maximum torque, best low-speed response	Audible whine, motor heating
16kHz	Good torque, minimal audible noise	Slight efficiency loss vs 8kHz
32kHz	Silent operation, less motor heating	Reduced low-speed torque

How It Works

Lower PWM frequencies allow higher peak currents during each pulse:

More time for current to ramp up through motor inductance
Higher peak current = stronger magnetic field = more torque
Better responsiveness at low throttle (important for hover stability)

Higher frequencies spread current more evenly:

Smoother motor operation
Less audible noise (above human hearing at 20kHz+)
Less efficient due to switching losses

Recommendation

16kHz - Best balance for most builds (current default)
8kHz - If you need more low-end punch and don't mind motor whine
32kHz - If noise is a priority and you have headroom on thrust

Propeller Selection Guide

Choosing the right propeller affects flight characteristics significantly.

Blade Count Comparison

Blades	Efficiency	Thrust	Response	Noise
2-blade	Best	Lower	Slower	Quietest
3-blade	Good	Medium	Medium	Medium
4-blade	Lower	Highest	Fastest	Loudest

2-blade props:

Most efficient (less blade interference)
Smoother, quieter operation
Best for longer flight times
Slower response to throttle changes

3-blade props:

Good compromise between efficiency and thrust
Popular for freestyle/general use
Moderate noise levels

4-blade props:

Maximum thrust from given diameter
Fastest throttle response
Best for heavy builds or aggressive flying
Shortest flight times, loudest

Diameter vs Blade Count Example

Comparing 46mm 2-blade vs 31mm 3-blade:

Property	46mm 2-blade	31mm 3-blade
Disc area	1662 mm²	755 mm²
Static thrust	Higher	Lower
Efficiency	Better	Worse
Response	Slower	Faster
Motor load	Higher	Lower
Noise	Quieter	Higher pitch

46mm 2-blade advantages:

2.2x more disc area = more air moved = more lift
Better hover efficiency
Quieter at same thrust level

31mm 3-blade advantages:

Lower rotational inertia = faster RPM changes
Snappier response for acrobatic flying
Less stress on motors (lower torque required)
Fits in tighter spaces

Recommendation for This Build

For a brushed micro quad:

Larger 2-blade (40-55mm) - Best for efficiency and flight time
Smaller 3-blade (31-40mm) - Better for indoor flying and quick maneuvers

Match prop size to your motor's recommended range. Oversized props will overheat motors; undersized props waste motor capability.

Software Setup

1. Install Arduino IDE

Download and install the latest Arduino IDE from arduino.cc

2. Install ESP32 Board Support

Required Version: ESP32 Arduino Core 3.0.7 (or compatible 3.x version)

Open Arduino IDE
Go to File > Preferences

Add this URL to "Additional Board Manager URLs":

https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json

Go to Tools > Board > Boards Manager
Search for "ESP32" and install "ESP32 by Espressif Systems" version 3.0.7

Important: This code uses ESP32 Core 3.x API features:

ledcAttach(pin, frequency, resolution) - newer API
ledcWrite(pin, duty_cycle) - uses pin numbers instead of channels
If using Core 2.x, you'll need to modify the PWM code in Output_ESP32.cpp

3. Install Required Libraries

Go to Tools > Manage Libraries and install:

Wire (usually pre-installed with ESP32)
WiFi (included with ESP32 board support)

4. Select Board Settings

Tools > Board > ESP32 Arduino > ESP32 Dev Module
Tools > Upload Speed > 115200 (or higher if stable)
Tools > CPU Frequency > 240MHz (recommended for flight controller)
Tools > Flash Frequency > 80MHz
Tools > Flash Size > 4MB (32Mb)
Tools > Partition Scheme > Default 4MB with spiffs
Tools > Port > Select your ESP32's COM port

ESP-NOW Wireless Communication

What is ESP-NOW?

ESP-NOW is a connectionless Wi-Fi communication protocol developed by Espressif. It provides:

Low latency (1-10ms typical)
No need for Wi-Fi router
Up to 250-byte payloads
Low power consumption
Simple peer-to-peer communication

Transmitter Setup

You'll need a separate ESP32 board configured as a transmitter. Two transmitter variants are available:

NEW_FPV_Transmitter_Code_ESP32_ESPNOW - Standard spring-return joysticks
Transmitter_ESP32_No_Spring_Joy - No-spring throttle (linear mapping)

The transmitter must send RC data in this structure (7 bytes):

typedef struct __attribute__((packed)) struct_message {
  uint8_t throttle;  // 0-255, mapped to 1000-2000µs
  uint8_t yaw;       // 0-255, mapped to 2000-1000µs (inverted)
  uint8_t pitch;     // 0-255, mapped to 1000-2000µs
  uint8_t roll;      // 0-255, mapped to 2000-1000µs (inverted)
  uint8_t AUX1;      // 0 or 1, flight mode switch
  uint8_t AUX2;      // 0 or 1, secondary function
  uint8_t switches;  // Bit flags: bit0=left btn, bit1=right btn
} struct_message;

The drone sends telemetry back (11 bytes):

typedef struct __attribute__((packed)) struct_ack {
  uint8_t vbat;       // Battery voltage (0.1V units, 37 = 3.7V)
  uint8_t rssi;       // Signal strength (0-100%)
  int16_t heading;    // Compass heading (degrees)
  int16_t pitch;      // Pitch angle (0.1 degrees)
  int16_t roll;       // Roll angle (0.1 degrees)
  int16_t alt;        // Altitude (cm)
  uint8_t flags;      // bit0=armed, bit1=angle, bit2=horizon, bit3=baro
} struct_ack;

CRITICAL: Both structures must use __attribute__((packed)) to ensure binary compatibility between transmitter and receiver.

Getting Your ESP32 MAC Address

When you first upload and run the code:

Open Serial Monitor (Tools > Serial Monitor)
Set baud rate to 115200
The MAC address will be printed: ESP32 Receiver MAC Address: XX:XX:XX:XX:XX:XX
Use this MAC address to pair your transmitter

Configuration

Main Configuration File

Edit config.h to customize your drone:

Frame Type (Line 39):

#define QUADX  // For X-configuration quadcopter

Motor Settings (Lines 63-72):

#define MINTHROTTLE 1000
#define MAXTHROTTLE 2000
#define MINCOMMAND  1000

PID Tuning: Adjust PID values for stable flight

ESP32-Specific Settings

Pin definitions are in config.h starting at line 501:

#define ESP32_I2C_SDA 21
#define ESP32_I2C_SCL 22
#define ESP32_MOTOR1_PIN 13
#define ESP32_MOTOR2_PIN 25
#define ESP32_MOTOR3_PIN 14
#define ESP32_MOTOR4_PIN 27
#define ESP32_BUZZER_PIN 32
// etc...

PWM Configuration

The ESP32 uses LEDC (LED Controller) for PWM generation:

Frequency: 16kHz (optimized for brushed motors - see PWM Frequency Tuning for details)
Resolution: 10-bit (0-1023)
Channels: 0-3 for motors, 4 for buzzer

To change PWM frequency, edit Output_ESP32.cpp:16:

#define PWM_FREQUENCY 16000  // 8kHz=more torque, 32kHz=quieter

Uploading the Code

Connect ESP32 to your computer via USB
Select the correct COM port (Tools > Port)
Press and hold the BOOT button on ESP32 (if upload fails)
Click Upload button in Arduino IDE
Wait for "Hard resetting via RTS pin..." message
Open Serial Monitor to see initialization messages

Troubleshooting

Motors Not Spinning

Check motor connections to correct GPIO pins
Verify motor power supply is connected
Check PWM frequency setting
Ensure ESCs are compatible with signal

IMU Not Responding

Check I2C connections (SDA=21, SCL=22)
Verify MPU6050 is powered with 3.3V (NOT 5V!)
Run I2C scanner to find MPU6050 address
Check pull-up resistors on I2C lines

ESP-NOW Connection Issues

Verify both ESP32 boards are using same Wi-Fi channel
Check MAC address is correctly set in transmitter
Ensure transmitter is sending data in correct format
Check Serial Monitor for "ESP-NOW Initialized Successfully"

Compilation Errors

Ensure ESP32 board support is installed correctly
Check that all header files are in the same folder
Verify config.h has #define ESP_NOW_RX enabled
Make sure you selected "ESP32 Dev Module" as board

Channel Mapping

Default channel mapping (defined in ESP_NOW_RX.cpp):

Channel	Name	Range	Source
1	THROTTLE	1000-2000	Left stick Y
2	YAW	2000-1000 (inverted)	Left stick X
3	PITCH	1000-2000	Right stick Y
4	ROLL	2000-1000 (inverted)	Right stick X
5	AUX1	1000/2000	Toggle switch 1
6	AUX2	1000/2000	Toggle switch 2
7	AUX3	1000/2000	Left joystick button
8	AUX4	1000/2000	Right joystick button

Joystick Buttons: The switches byte from the transmitter is mapped to AUX3/AUX4:

bit0 (left button) → AUX3
bit1 (right button) → AUX4 (can be used for BOXBEEPERON)

To invert a channel, swap the map() function parameters.

Safety Features

Failsafe

If signal is lost for >1 second, all channels reset to safe values
Throttle goes to 0
All other channels center to 128 (1500µs equivalent)

Arming and Disarming

Arming Thresholds:

MINCHECK = 1100 (stick considered "low" below this)
MAXCHECK = 1900 (stick considered "high" above this)
Stick values are mapped from 0-255 (transmitter) to 1000-2000 (RC PWM)

To ARM the drone:

Move the left joystick to the bottom-right corner
Hold for ~0.4 seconds (20 cycles)
This means: Throttle DOWN (low) + Yaw RIGHT (high)
LED pattern will change and buzzer may beep to indicate armed state

To DISARM the drone:

Move the left joystick to the bottom-left corner
Hold for ~0.4 seconds
This means: Throttle DOWN (low) + Yaw LEFT (low)

Why both DOWN and RIGHT? The joystick has two independent axes (two potentiometers):

Y-axis (vertical) controls Throttle
X-axis (horizontal) controls Yaw

Moving to the corner activates both axes simultaneously - they're independent measurements.

Configuration:

Configured in config.h
Default: #define ALLOW_ARM_DISARM_VIA_TX_YAW (throttle down + yaw)
Alternative: #define ALLOW_ARM_DISARM_VIA_TX_ROLL (throttle down + roll)

Safety: ONLYARMWHENFLAT prevents arming when the drone is tilted.

Performance Notes

Loop Time: ~2800µs (configured in config.h)
ESP-NOW Latency: 1-10ms typical
I2C Speed: 400kHz
CPU Speed: 240MHz recommended

File Structure

MultiWii_RF24.ino - Main sketch file
config.h - Main configuration file
ESP_NOW_RX.cpp/.h - ESP-NOW receiver implementation
Output_ESP32.cpp - ESP32 LEDC PWM output
Sensors.cpp - Updated with ESP32 I2C support
MultiWii.cpp - Flight controller main loop
RX.cpp - Updated to support ESP-NOW

Original Project Credits

Original MultiWii by Alexandre Dubus
Modified for brushed drone by iforced2D
NRF24 version by ELECTRONOOBS
ESP32 adaptation (2026)

License

This project is licensed under GPL (GNU General Public License) as inherited from the original MultiWii project.

Support & Resources

Original Tutorial: http://www.electronoobs.com/eng_arduino_tut117.php
MultiWii Wiki: http://www.multiwii.com/wiki
ESP32 Documentation: https://docs.espressif.com/
ESP-NOW Guide: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/network/esp_now.html

Important Notes

⚠️ SAFETY WARNING:

Always remove propellers when testing on a bench
Test in a safe environment away from people and obstacles
Start with low throttle and gradually increase
Have an emergency cutoff plan
Never fly over people or near airports
Follow local drone regulations

📝 Before First Flight:

Calibrate IMU (level surface required)
Test all motor directions
Verify channel directions match your transmitter
Test failsafe behavior
Tune PID values for your specific setup
Perform extensive ground testing

Version History

2026 - ESP32 MH ET Live MiniKit version with ESP-NOW
2020 - ELECTRONOOBS NRF24 version
Original - MultiWii brushed drone by iforced2D

Name		Name	Last commit message	Last commit date
Latest commit History 11 Commits
.DS_Store		.DS_Store
.gitattributes		.gitattributes
Alarms.cpp		Alarms.cpp
Alarms.h		Alarms.h
CLAUDE.md		CLAUDE.md
CREDITS.txt		CREDITS.txt
Config_EEPROM.cpp		Config_EEPROM.cpp
Config_EEPROM.h		Config_EEPROM.h
DEVELOPMENT_LOG.md		DEVELOPMENT_LOG.md
ESP32 MultiWii Drone Circuit Diagram.pdf		ESP32 MultiWii Drone Circuit Diagram.pdf
ESP32_README.md		ESP32_README.md
ESP_NOW_RX.cpp		ESP_NOW_RX.cpp
ESP_NOW_RX.h		ESP_NOW_RX.h
GPS.cpp		GPS.cpp
GPS.h		GPS.h
IMU.cpp		IMU.cpp
IMU.h		IMU.h
LCD.cpp		LCD.cpp
LCD.h		LCD.h
LICENSE		LICENSE
MultiWii.cpp		MultiWii.cpp
MultiWii.h		MultiWii.h
MultiWii_Drone_FLT_CNTL_ESP32-ESPNOW.ino		MultiWii_Drone_FLT_CNTL_ESP32-ESPNOW.ino
NRF24_RX.cpp		NRF24_RX.cpp
NRF24_RX.h		NRF24_RX.h
OriginalOutput.txt		OriginalOutput.txt
Output.cpp		Output.cpp
Output.h		Output.h
Output_ESP32.cpp		Output_ESP32.cpp
Protocol.cpp		Protocol.cpp
Protocol.h		Protocol.h
README.md		README.md
RX.cpp		RX.cpp
RX.h		RX.h
Sensors.cpp		Sensors.cpp
Sensors.h		Sensors.h
Serial.cpp		Serial.cpp
Serial.h		Serial.h
circuit_diagram.html		circuit_diagram.html
config.h		config.h
def.h		def.h
maybeOk.txt		maybeOk.txt
myOutput.txt		myOutput.txt
types.h		types.h

License

jlmyra/New_FPV_Drone_Code-MultiWII-ESP32-ESPNOW

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MultiWii Drone for ESP32 MH ET Live MiniKit with ESP-NOW

Hardware Requirements

ESP32 Board

Sensors

Motors (Brushed DC Motors)

Additional Components

Buzzer Circuit (2N2222 Driver)

Pin Configuration

Motor Layout (QUAD X Configuration)

Visual Diagram (Top View):

Power Requirements

CRITICAL: USB vs Battery Power

What Works on USB Power Only

Motor Current Draw

Battery Voltage Monitoring (1S LiPo)

Option 1: Simple 2:1 Voltage Divider (Recommended)

Option 2: 11dB Attenuation Only (Risky)

Calibration

Voltage Thresholds (1S LiPo)

I2C Wiring Best Practices

Do NOT Twist I2C Wires

Recommended Wiring

Pull-up Resistors

Mounting the MPU6050

PWM Frequency Tuning

Current Setting

Frequency Trade-offs

How It Works

Recommendation

Propeller Selection Guide

Blade Count Comparison

Diameter vs Blade Count Example

Recommendation for This Build

Software Setup

1. Install Arduino IDE

2. Install ESP32 Board Support

3. Install Required Libraries

4. Select Board Settings

ESP-NOW Wireless Communication

What is ESP-NOW?

Transmitter Setup

Getting Your ESP32 MAC Address

Configuration

Main Configuration File

ESP32-Specific Settings

PWM Configuration

Uploading the Code

Troubleshooting

Motors Not Spinning

IMU Not Responding

ESP-NOW Connection Issues

Compilation Errors

Channel Mapping

Safety Features

Failsafe

Arming and Disarming

Performance Notes

File Structure

Original Project Credits

License

Support & Resources

Important Notes

Version History

About

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