Firmware Overview
ESPFlight Firmware v1.0.0 is the open-source flight-control core of the v1 platform.
ESPFlight Docs · v1 • Validated v1 documentation path
# Release capabilities
Flight control
250 Hz control loop with Roll / Pitch / Yaw PID and IMU-based stabilization.
Safety
Explicit ARM / DISARM, motor safety handling, communication failsafe, automatic landing failsafe, and tilt safety shutdown.
Networking
Wi-Fi communication, UDP discovery, WebSocket control interface, and Protocol 2.
Setup & telemetry
Live telemetry, PID configuration, flight-state reporting, Head Lock, and supported Takeoff/Landing flows.
# Validated build baseline
| Setting | v1.0.0 baseline |
|---|---|
| Target board | LOLIN(WEMOS) D1 R2 & mini / ESP8266 |
| ESP8266 Arduino Core | 3.1.2 |
| CPU frequency | 160 MHz |
| Control loop | 250 Hz / 4000 µs |
| Motor PWM | 0..1023 at 4000 Hz |
| Protocol | 2 |