This project is a fully custom-built quadcopter, from the flight controller firmware up. It runs on an ESP32 handling gamepad input via Bluepad32 and motor output through ESP32Servo, with a custom driveMotors() function blending per-motor speeds for roll, pitch, and yaw. Orientation sensing comes from an MPU6500 IMU, and the build uses 40A brushless ESCs driving A2212/10T 1400KV motors off a 3S LiPo. Along the way I've debugged everything from IMU axis misalignment causing takeoff tipping, to a faulty ESC unit, to voltage-related low-battery cutoffs, and various other embedded systems issues.
