Modular Recon Code Repository

Implementation of the drone functionality.

Required libraries

The project is based on the ESP32 SoC by Espressif. It is possible to use the Arduino IDE to write software for the ESP32 but many developers already experienced a bad support for the chip. The recommanded way is to use Espressif’s ESP-IDF. The IDF is a SDK that contains many wrappers for the chips functionality, e.g.:

• FreeRTOS → real time operating system for embedded devices

  • Tasks

  • Semaphores

  • Concurrent queues

• TCP/IP stack

  • Socket implementation provided by lwip (lightweight ip)

• GPIO abstraction

• System wide event handler

An instruction on how to install the ESP-IDF is found on their official developers page.

Motor Controller

Main Control Unit

Basic Makefile usage

The ESP-IDF provides a pre configured Makefile environment.

Build: make all

Flash: make flash → Implicitly triggers build process

Clean: make clean

Monitor: make monitor → ESP toolchain monitor. Use in own terminal as it cannot be killed