The flight core that stays inspectable.
ESPFlight firmware is the embedded layer responsible for control, stabilization, safety state, telemetry and the drone-side network protocol.
// control loop
imu.update();
failsafe.evaluate();
controller.stabilize();
motors.write();
// keep the pilot informed
telemetry.publish();Small enough to understand. Structured enough to grow.
Stabilization
IMU processing and PID-based attitude stabilization form the core control loop.
Safety state
Explicit arming, link-loss handling, low-battery logic, attitude protection and flight-state guards.
Network control
Device discovery, WebSocket control, command ownership and acknowledgements for important actions.
Telemetry
Drone state and flight data are continuously exposed to the companion application.
Assisted flight
Altitude assistance plus takeoff and landing flows sit above the basic stabilized control layer.
Configuration
Control parameters can be tuned from the application while the drone is connected.
A clear contract between drone and app.
ESPFlight treats connectivity as part of the flight platform rather than a pile of ad-hoc messages.
- UDP discovery
- WebSocket control and telemetry channel
- Explicit ARM / DISARM commands
- Single-controller ownership model
- ACKs for high-level commands
- Link timeout and flight-state safety logic
Read it. Build it. Improve it.
ESPFlight Firmware v1.0.0 is open-source under the MIT License, so you can read it, learn from it, modify it, redistribute it, and use it in personal or commercial projects subject to the license terms.
Check the official firmware errata for documentation corrections recorded without changing the v1.0.0 release tag.
View official errata ↗