• GY-91 through I2C: gyroscope + accelerometer
  • Serial for external control
  • I2C slave for external control
  • Wireless connection - Bluetooth serial port
  • Motors control
  • PWM for motors - three speeds
  • RPM counts. (BTW the motors have different speed as it turned out )


  • Position data handling - calibration, filtering, conversion in angles (?)
  • Code refactoring and configuration with menuconfig

Work in progress here: Feature/esp32 by an-dr Pull Request #1 an-dr/zakhar_platform