How ESPFlight Works
A mental model of the complete control path from sensors and app commands to motor outputs.
ESPFlight Docs · v1 • Validated v1 documentation path
BEGINNER PATH · STEP 3 OF 13
Build a simple mental model before wiring and configuration.
# The loop
- 1
Sense
The IMU measures motion; optional range sensing can add altitude information.
- 2
Estimate and interpret
Firmware converts sensor data into the attitude/state used by control logic.
- 3
Compare
Control input and desired state are compared with measured state.
- 4
Control
Roll/Pitch/Yaw PID and mode logic compute corrections.
- 5
Mix and output
Corrections are mixed into four motor outputs, subject to ARM and safety state.
- 6
Report
Firmware sends telemetry/state back to the application over the local network.