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I push, it comes back. This frame balances in one plane on the thrust of a single propeller: an MPU-6500 sensor measures the tilt, and an ESP32 runs a PID controller (Kp 8 · Ki 2 · Kd 2.2 in this test) that drives the motor through a DRV8833. Bluetooth sends the tilt and the motor command to a page on my computer, where I can adjust the PID settings. Earlier attempts? Gravity was consistent. What next: two planes, or wheels?
An ESP32 board with a 1.14-inch colour screen already wired to it. What is connected where, which GPIOs are safe to use, how long it lasts on a battery — and where the classic T-Display ends and the S3 begins.
