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ESPFlight Docs v1
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Sensors

Validate MPU-6050 wiring, boot calibration, and physical attitude direction before motors or flight; treat VL53L0X as optional.

ESPFlight Docs · v1 • Validated v1 documentation path

# MPU-6050 IMU

The v1 reference MPU-6050 uses I2C with SDA D6 and SCL D5. Firmware requires the mandatory IMU to respond at boot and verifies its configuration before calibration.

Mount the module in the documented reference orientation; do not rotate it casually.
Keep the Drone completely still during the automatic 2000-sample gyro calibration.
Wait for “Setup completed.” before moving the frame for attitude validation.

# Propeller-off attitude validation

  1. 1

    Hold the frame level

    Telemetry should be stable rather than rapidly changing while the frame is stationary.

  2. 2

    Tilt right, then left

    The Roll indication/visual response in the app must follow the real side-to-side motion. If it moves opposite to the physical tilt, stop.

  3. 3

    Raise and lower the nose

    The Pitch indication/visual response must follow the real nose-up/nose-down motion. If it is reversed or implausible, stop.

  4. 4

    Return level

    The displayed attitude should return consistently toward the level state rather than remain obviously biased by a wiring/orientation error.

This validation checks direction and plausibility; do not invent a sign convention from another flight controller. Use the ESPFlight v1 app/firmware behavior on the real build.

# Optional VL53L0X

The altitude-assist variant supports VL53L0X on the same I2C bus. Manual flight does not require it. Assisted Takeoff/Landing should be used only when the sensor is detected and fresh valid range data makes the firmware report the altitude path ready.