Project Documentation

ESP32-Based Drone with GPS, Camera, and MPU-6050 for Surveillance

Circuit Documentation

Summary

This document provides a detailed overview of a drone surveillance system. The system includes multiple brushless motors controlled by Electronic Speed Controllers (ESCs), an MPU-6050 for motion sensing, a GPS module for location tracking, and an ESP32 microcontroller for overall control. Additionally, an ESP32-CAM is used for capturing images, and a PDB XT60 is used for power distribution. The system is powered by a LiPo battery.

Component List

Brushless Motor

Description: A motor that operates without brushes, commonly used in drones for its efficiency and reliability.
Pins: L1, L2, L3

Electronic Speed Controller (ESC)

Description: A device that controls the speed of the brushless motor by varying the power supplied to it.
Pins: Battery VCC, Battery GND, Signal, 5v out, GND out, M1, M2, M3

MPU-6050

Description: A 6-axis motion tracking device that includes a 3-axis gyroscope and a 3-axis accelerometer.
Pins: VCC, GND, SCL, SDA, XDA, XCL, AD0, INT

PDB XT60

Description: A Power Distribution Board used to distribute power from the battery to various components.
Pins: +, -, GND, VCC, 5V, 12V

LiPo Battery

Description: A Lithium Polymer battery used to power the entire system.
Pins: VCC, GND

GPS NEO 6M

Description: A GPS module used for location tracking.
Pins: VCC, RX, TX, GND

ESP32 38 PINS

Description: A microcontroller with built-in WiFi and Bluetooth capabilities, used for controlling various components.
Pins: GND, G23, G22, TXD, RXD, G21, G19, G18, G5, G17, G16, G4, G0, G2, G15, SDI, SD0, CLK, 3V3, EN, SP, SN, G34, G35, G32, 33, G25, G26, G27, G14, G12, G13, SD2, SD3, 5V

ESP32-CAM

Description: A camera module based on the ESP32 microcontroller, used for capturing images.
Pins: 5V, GND, IO12, IO13, IO15, IO14, IO2, IO4, VOT, VOR, VCC, IO0, IO16, 3V3

Wiring Details

Brushless Motor

L1 connected to M1 of ESC
L2 connected to M2 of ESC
L3 connected to M3 of ESC

Electronic Speed Controller (ESC)

Battery VCC connected to + of PDB XT60
Battery GND connected to - of PDB XT60
Signal connected to G17 of ESP32 38 PINS
GND out connected to GND of ESP32 38 PINS
M1 connected to L1 of Brushless Motor
M2 connected to L2 of Brushless Motor
M3 connected to L3 of Brushless Motor

MPU-6050

VCC connected to 3V3 of ESP32 38 PINS
GND connected to GND of ESP32 38 PINS
SCL connected to G22 of ESP32 38 PINS
SDA connected to G21 of ESP32 38 PINS

PDB XT60

+ connected to Battery VCC of ESC
- connected to Battery GND of ESC
VCC connected to VCC of LiPo Battery
GND connected to GND of LiPo Battery

LiPo Battery

VCC connected to VCC of PDB XT60
GND connected to GND of PDB XT60

GPS NEO 6M

VCC connected to 5V of ESP32 38 PINS
TX connected to G34 of ESP32 38 PINS
GND connected to GND of ESP32 38 PINS

ESP32 38 PINS

G17 connected to Signal of ESC
GND connected to GND out of ESC
G22 connected to SCL of MPU-6050
G21 connected to SDA of MPU-6050
5V connected to VCC of GPS NEO 6M
G34 connected to TX of GPS NEO 6M
TXD connected to IO14 of ESP32-CAM
RXD connected to IO15 of ESP32-CAM
GND connected to GND of ESP32-CAM

ESP32-CAM

5V connected to 5V of ESP32 38 PINS
GND connected to GND of ESP32 38 PINS
IO14 connected to TXD of ESP32 38 PINS
IO15 connected to RXD of ESP32 38 PINS

Documented Code

Code for ESC Microcontroller

void setup() {
  // put your setup code here, to run once:

}

void loop() {
  // put your main code here, to run repeatedly:

}

Code for MPU-6050 Microcontroller

#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <TinyGPS++.h>
#include <HardwareSerial.h>

// Define pins for HC-SR04
const int trigPin = 12;  // Change this to your trig pin
const int echoPin = 13;  // Change this to your echo pin

// Define pins for MPU6050
Adafruit_MPU6050 mpu;

// Define pins for GPS
HardwareSerial mySerial(1); // Use UART1 for GPS
TinyGPSPlus gps;

void setup() {
    // Start serial communication
    Serial.begin(115200);
    
    // Initialize HC-SR04
    pinMode(trigPin, OUTPUT);
    pinMode(echoPin, INPUT);
    
    // Initialize MPU6050
    if (!mpu.begin()) {
        Serial.println("Failed to find MPU6050 chip");
        while (1) {
            delay(10);
        }
    }

    // Initialize GPS
    mySerial.begin(9600, SERIAL_8N1, 16, 17); // Adjust RX, TX pins for GPS
}

void loop() {
    // HC-SR04 Distance Measurement
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    
    long duration = pulseIn(echoPin, HIGH);
    float distance = (duration * 0.034) / 2; // Calculate distance in cm
    Serial.print("Distance: ");
    Serial.print(distance);
    Serial.println(" cm");
    
    // Read from MPU6050
    sensors_event_t a, g, temp;
    mpu.getEvent(&a, &g, &temp);
    Serial.print("Accel X: "); Serial.print(a.acceleration.x); Serial.print(" m/s^2");
    Serial.print(" | Accel Y: "); Serial.print(a.acceleration.y); Serial.print(" m/s^2");
    Serial.print(" | Accel Z: "); Serial.print(a.acceleration.z); Serial.print(" m/s^2");
    Serial.println();

    // Read from GPS
    while (mySerial.available() > 0) {
        gps.encode(mySerial.read());
        if (gps.location.isUpdated()) {
            Serial.print("Latitude= "); Serial.print(gps.location.lat(), 6);
            Serial.print(" Longitude= "); Serial.print(gps.location.lng(), 6);
            Serial.println();
        }
    }
    
    delay(1000); // Delay for readability
}

Code for GPS NEO 6M Microcontroller

/*
 * Development of Drone Surveillance Technology Using ESP32
 * This code interfaces with an ESP32, MPU-6050, GPS NEO 6M, and ESP32-CAM.
 * The ESP32 reads data from the MPU-6050 (IMU), and GPS.
 * It also controls the ESCs for the brushless motors and captures images using the ESP32-CAM.
 */

#include <Wire.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <WiFi.h>
#include <ESP32Servo.h>

// Pin Definitions