Stabilization & Control Loop
Why the firmware runs a fixed real-time loop and how that relates to stable attitude control.
ESPFlight Docs · v1 • Validated v1 documentation path
# 250 Hz baseline
Firmware v1.0.0 uses a 4000 µs control-loop period, equivalent to 250 Hz. The release baseline also fixes CPU frequency at 160 MHz and motor PWM at 4000 Hz.
REPRODUCIBILITY
Changing loop timing, PWM timing, sensor configuration, or PID gains creates a different control baseline and should be revalidated as a variant.
# Control chain
At each control cycle the firmware uses sensor/state information and commanded input to update the Roll, Pitch, and Yaw control outputs. Safety state remains authoritative: an ARMED-ready Drone at low throttle still keeps normal motor output off.