AI 中文总结
针对低成本无人机，基于双核ESP32-S3微控制器设计优化固件，利用内核任务分配、零拷贝缓冲区等技术，实现飞行控制、遥测和视频传输，经实验评估能提供精确稳定支持，助力DIY项目和研究。
AI 中文摘要
本文介绍了基于双核ESP32-S3微控制器的低成本无人机四轴飞行器固件的设计与优化，目标是在严格的嵌入式资源限制内实现实时飞行控制、遥测和视频传输。固件利用两个内核的专用任务分配：内核1上400Hz的控制回路通过Madgwick滤波器实现传感器融合，以及通过选择性导数缩放和前馈制动增强的混合定点PID控制器。内核2处理50Hz的遥测编码以及25FPS VGA帧基于UDP的视频和数据流。实验评估证实，该固件架构提供了精确、稳定的飞行稳定和强大的遥测支持，使资源受限的ESP32-S3平台能够以最小的投资和完全定制能力处理DIY项目和研究。
英文摘要
This paper presents the design and optimization of quadcopter firmware for a low-cost UAV based on the dual-core ESP32-S3 microcontroller, targeting real-time flight control, telemetry, and video transmission within stringent embedded resource constraints. The firmware leverages dedicated task allocation across the two cores: 400Hz control loop on Core 1 implements sensor fusion with a Madgwick filter, a hybrid fixed-point PID controller enhanced by selective derivative scaling and feedforward braking. Core 2 handles 50 Hz telemetry encoding and UDP-based video and data streaming at 25FPS VGA frames, ensuring separation of control and communication workloads to prevent latency interference. Inter-core communication employs zero-copy buffers with mutex protection for minimal overhead and deterministic execution. Custom event-driven threading and RTOS-inspired static scheduling guarantee real-time responsiveness and jitter-free operation despite ESP32-S3's limited memory and floating-point performance. Experimental evaluation confirms that this firmware architecture provides precise, stable flight stabilization and robust telemetry support, enabling resource-constrained ESP32-S3 platforms to handle DIY projects and research with minimal investment and full customization capability.
Comments6 pages, 12 figures, Pre-print
