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166 lines
11 KiB
Markdown
166 lines
11 KiB
Markdown
# ESP32 WiFi Module
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## Overview
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ESP32 are readily available WiFi modules with dedicated UART, SPI and I2C interfaces, and full TCP/IP stack and microcontroller capability.
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They usually come without firmware, but _DroneBridge for ESP32_ can be installed to enable them as a transparent and bi-directional serial to WiFi bridge.
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This allows them to be used as a [WiFi telemetry](../telemetry/telemetry_wifi.md) module with any Pixhawk series controller.
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They can alternatively be used in a special ESP-NOW Mode that enables ranges of up to 1km+, albeit at lower data rates.
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The typical range depends on the antenna and environment:
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- WiFi-Modes: ~50m-200m
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- ESP-NOW Modes: 300m-1km+
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### WiFi Network
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_DroneBridge for ESP32_ supports standard WiFi connections to an access point but can also operate as a standalone access point.
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### ESP-NOW Network
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The ESP-NOW mode offers a connectionless and encrypted alternative to traditional WiFi.
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While the data rate is reduced to < 250 kbit/s the range is increased up to 1 km.
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This mode has no limit on how many autopilot clients are connected.
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Only channel capacity and processing capacity limit the number of clients.
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::: info
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ESP-NOW requires ESP32 devices on the GCS side as well as on the autopilot side.
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:::
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## Features
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- Bidirectional: serial-to-WiFi, serial-to-WiFi Long-Range (LR), serial-to-ESP-NOW link
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- Support for MAVLink, MSP, LTM or any other payload using transparent option
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- Affordable, Reliable & low latency
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- Weight: < 8g
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- Up to 150m range using standard WiFi
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- Up to 1km of range using ESP-NOW or Wi-Fi LR Mode - sender & receiver must be ESP32 with LR-Mode enabled
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- Fully encrypted in all modes including ESP-NOW broadcasts secured using AES-GCM 256 bit!
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- Support for drone swarms of almost any size using ESP-NOW with its custom & encrypted broadcast mode
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- Supported by: QGroundControl, Mission Planner, mwptools, impload etc.
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- Easy to set up: Power connection + UART connection to flight controller
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- Fully configurable through an easy-to-use web interface
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- Parsing of LTM & MSPv2 for more reliable connection and less packet loss
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- Parsing of MAVLink with the injection of radio status packets for the display of RSSI in the GCS
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- Fully transparent telemetry down-link option
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::: info
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[You can find all the latest information on the current version of _DroneBridge for ESP32_ on the official website.](https://dronebridge.github.io/ESP32/)
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:::
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## Recommended Hardware
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_DroneBridge for ESP32_ can run on almost all ESP32 development boards.
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Boards and modules with an external antenna connector are recommended since these will offer more range.
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:::warning
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Some ESP32 modules support 3.3V power supply input, while many flight controllers output at 5V (e.g. Pixhawk 4).
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You will need to check compatibility and step down the voltage if needed.
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:::
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::: tip
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The _DroneBridge for ESP32_ project recommends using [Officially Supported and Tested Boards](https://dronebridge.github.io/ESP32/).
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These are small, low in price, have Pixhawk-standard port for connecting to Pixhawk flight controllers, and come with _DroneBridge for ESP32_ firmware pre-installed.
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:::
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Other ESP32 Boards that have been tested with versions of _DroneBridge for ESP32_ (but receive no official support):
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- [ESP32-C3-DevKitM-1](https://docs.espressif.com/projects/esp-dev-kits/en/latest/esp32c3/esp32-c3-devkitm-1/index.html)
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- [ESP32-S3-DevKitC-1](https://docs.espressif.com/projects/esp-dev-kits/en/latest/esp32s3/esp32-s3-devkitc-1/index.html)
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- [NodeMCU ESP32S](https://www.waveshare.com/nodemcu-32s.htm)
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## Installing/Updating the Firmware
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An [easy-to-use online flashing tool](https://dronebridge.github.io/ESP32/install.html) is available on the official website.
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Use a Chrome-based browser, connect your ESP32 via USB to your computer, and click flash!
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For more detailed flashing instructions see [DroneBridge for ESP32 > Installation](https://dronebridge.gitbook.io/docs/dronebridge-for-esp32/installation) (DroneBridge Docs).
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## Wiring
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When using one of the official boards with a Pixhawk flight controller it is as simple as plugging the provided cable from `TELEM1` on the ESP32 to the `TELEM1` or `TELEM2` port on the FC.
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For ESP boards that don't have a `TELEM` port you need to manually wire to a serial port on the FC (e.g. `TELEM1` or `TELEM2`).
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The diagram below provides an outline of how you would wire up the connections.
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- Connect UART of ESP32 to a UART of your autopilot (ie. `TELEM1` or `TELEM2` port).
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Make sure the voltage levels match!
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- RX to TX
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- GND to GND
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- Stable 3.3V or 5V power supply to the ESP32 (depending on the available inputs of your ESP32 and capabilities of the autopilot)
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- Set the autopilot port to MAVLINK 1 or 2 protocol.
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::: info
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- Follow the ESP32 board manufacturer recommendations on power supply.
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Some boards might have issues if they are simultaneously connected to a 5V power source and have a USB cable connected to the USB/Serial bridge (USB socket of the ESP32 dev board).
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- Some ESP32 DevKits manufacturers use the wrong labels for the pins on their products.
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Make sure that the PINs on your board are labelled correctly if you encounter issues.
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:::
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## Configuring PX4
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Configure the Flight controller port that is wired to the ESP32 to have MAVLink set as the protocol and to have the same baud rate as the ESP32.
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The Pixhawk `TELEM1` and `TELEM2` ports are configured for [MAVLink by default](../peripherals/mavlink_peripherals.md#default-mavlink-ports) but you will still need to set the rates.
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For `TELEM1` you might set the values like this:
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- `SER_TEL1_BAUD`: 115200 8N1
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- `MAV_0_RATE`: 24000 (can be increased optionally)
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For more information, and using other ports, see [MAVLink Peripherals](../peripherals/mavlink_peripherals.md) and [Serial Port Configuration](../peripherals/serial_configuration.md)
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## Configuring DroneBridge for ESP32
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Once _DroneBridge for ESP32_ is flashed it initially will provide a Wifi access point that you can connect to.
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Once connected you can access the configuration page using your browser. The address of the configuration page is `http://dronebridge.local` or `192.168.2.1`.
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The _DroneBridge for ESP32_ default configuration should work for connecting to PX4 "out of the box".
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For the Official HW1.x Boards the configuration is: `UART TX Pin: 5`, `UART RX Pin: 4`, `UART RTS Pin: 6`, `UART CTS Pin: 7`
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The only configuration that may be required is ensuring that the baud rates of the ESP32 and flight controller match.
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You will want to change these settings if you want to use different pins on the ESP32, a different WiFi configuration, or to tweak the packet size.
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A lower packet size means more overhead and load on the system, less latency, and faster recovery from a lost packet.
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### Supported Modes
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| **MavLink Index** | **DroneBridge for ESP32 Mode** | **Encryption** | **Description** | **Notes** |
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| ----------------- | ------------------------------ | -------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| 1 | WiFi Access Point Mode | WPA2 PSK | ESP32 launches classic WiFi access point using 802.11b rates | Any WiFi device can connect |
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| 2 | WiFi Client Mode | min. WEP | ESP32 connects to an existing WiFi access point. LR Mode supported | Encryption defined by access point. Multiple drones can connect to one AP and GCS. 802.11b rates |
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| 3 | WiFi Access Point Mode LR | WPA2 PSK | ESP32 launches WiFi access point mode using espressifs LR mode | Only ESP32 LR Mode enabled devices can detect and connect to the access point. Data rate is reduced to 0.25Mbit. Range is greatly increased. |
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| 4 | ESP-NOW LR Mode AIR | AES256-GCM | ESP32 is able to receive ESP-NOW broadcast packets from any GCS in the area and forwards them to the UART. Broadcasts to all GND stations in the area. | Connectionless protocol. Data rate is reduced to 0.25Mbit. Range is greatly increased compared to WiFi modes. Custom encryption mode for ESP-NOW broadcasts and protocol. |
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| 5 | ESP-NOW LR Mode GND | AES256-GCM | ESP32 is able to receive ESP-NOW broadcast packets from any drone in the area and forwards them to the UART. Broadcasts to all AIR stations in the area. | Connectionless protocol. Data rate is reduced to 0.25Mbit. Range greatly increased compared to WiFi modes. Custom encryption mode for ESP-NOW broadcasts and protocol. |
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When changing the mode using a GCS and the MavLink parameter protocol instead of the web interface, the `MavLink Index` is the number associated with the parameter `SYS_ESP32_MODE`.
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## Configuring the Ground Control Station
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QGroundControl should auto-detect the connection and no further actions should be necessary (_DroneBridge for ESP32_ automatically forwards data from all connected WiFi devices via UDP to port 14550).
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The following connection options are available:
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- UDP unicast on port `14550` to all connected devices.
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- TCP on port `5760`
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### REST API
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DroneBridge for ESP32 offers a REST API that allows you to read and write configuration options.
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For more information see: [DroneBridge for ESP32 > Developer & API Documentation](https://dronebridge.gitbook.io/docs/dronebridge-for-esp32/developer-and-api-documentation).
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## Troubleshooting
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See [Troubleshooting & Help](https://dronebridge.gitbook.io/docs/dronebridge-for-esp32/troubleshooting-help) (DroneBridge Docs).
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