Skip to content

Mini Drone/Quadcopter Firmware for ESP32 and ESP32-S Series SoCs.


Notifications You must be signed in to change notification settings


Repository files navigation



ESP-Drone is an open source solution based on Espressif ESP32/ESP32-S2/ESP32-S3 Wi-Fi chip, which can be controlled by a mobile APP or gamepad over Wi-Fi connection. ESP-Drone comes with simple hardware, clear and extensible code architecture, and therefore this project can be used in STEAM education and other fields. The main code is ported from Crazyflie open source project with GPL3.0 protocol.

Currently support ESP32、ESP32S2、ESP32S3, please using ESP-IDF release/v4.4 branch as your develop environment


For more information, please check the sections below:


  1. Stabilize Mode
  2. Height-hold Mode
  3. Position-hold Mode
  4. APP Control
  5. CFclient Supported
  6. ESP-BOX3 Joystick Control (through esp-now)

Note: to implement Height-hold/Position-hold mode, extension boards are needed. For more information, see Hardware Reference.

Third Party Copyrighted Code

Additional third party copyrighted code is included under the following licenses.

Component License Origin Commit ID
core/crazyflie GPL3.0 Crazyflie tag_2021_01 b448553
lib/dsp_lib esp32-lin 6fa39f4c

Support Policy

From December 2022, we will offer limited support on this project, but Pull Request is still welcomed!


  1. Thanks to Bitcraze for the great Crazyflie project.
  2. Thanks to Espressif for the powerful ESP-IDF framework.
  3. Thanks to WhyEngineer for the useful ESP-DSP lib.


No releases published


No packages published