diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 2d7fc5d..6adab49 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -5,10 +5,37 @@ stages:
 variables:
   BATCH_BUILD: "1"
   V: "0"
-  MAKEFLAGS: "-j5 --no-keep-going"
-  IDF_PATH: "$CI_PROJECT_DIR/esp-idf"
   IDF_CI_BUILD: "1"
 
+before_script:
+  # add gitlab ssh key
+  - mkdir -p ~/.ssh
+  - chmod 700 ~/.ssh
+  - echo -n $GITLAB_KEY > ~/.ssh/id_rsa_base64
+  - base64 --decode --ignore-garbage ~/.ssh/id_rsa_base64 > ~/.ssh/id_rsa
+  - chmod 600 ~/.ssh/id_rsa
+  - echo -e "Host gitlab.espressif.cn\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config
+  - git --version
+  - git submodule update --init --recursive --force
+
+.build_examples_template: &build_examples_template
+  stage: build
+  image: espressif/idf:release-v4.4
+  tags:
+    - build
+
+build_demo_cmake:
+  <<: *build_examples_template
+  script:
+    - idf.py fullclean
+    - idf.py build
+    - idf.py fullclean
+    - idf.py set-target esp32s2
+    - idf.py build
+    - idf.py fullclean
+    - idf.py set-target esp32s3
+    - idf.py build
+
 build_docs:
     stage: build
     image: $CI_SPHINX_DOCKER:latest
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fbd5208..d1d6dc9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,8 +4,7 @@ cmake_minimum_required(VERSION 3.5)
 
 set(__PROJECT_GROUP_LINK_COMPONENTS ON)
 
-set(PLANE_COMPONENT_DIRS ${PLANE_COMPONENT_DIRS}
-                        "./components/core"
+set(PLANE_COMPONENT_DIRS "./components/core"
                         "./components/drivers"
                         "./components/drivers/general"
                         "./components/drivers/i2c_devices"
diff --git a/README.md b/README.md
index 5b08948..7240b45 100644
--- a/README.md
+++ b/README.md
@@ -5,7 +5,9 @@
 
 ### Introduction
 
-**ESP-Drone** is an open source solution based on Espressif ESP32/ESP32-S2 Wi-Fi chip, which can be controlled by a mobile APP or gamepad over **Wi-Fi** connection. ESP-Drone comes with **simple hardware**, **clear and extensible code architecture**, and therefore this project can be used in **STEAM education** and other fields. The main code is ported from **Crazyflie** open source project with **GPL3.0** protocol.
+**ESP-Drone** is an open source solution based on Espressif ESP32/ESP32-S2/S3 Wi-Fi chip, which can be controlled by a mobile APP or gamepad over **Wi-Fi** connection. ESP-Drone comes with **simple hardware**, **clear and extensible code architecture**, and therefore this project can be used in **STEAM education** and other fields. The main code is ported from **Crazyflie** open source project with **GPL3.0** protocol.
+
+> Currently support ESP32、ESP32S2、ESP32S3, please using ESP-IDF [release/v4.4](https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html) branch as your develop environment
 
 ![ESP-Drone](./docs/_static/espdrone_s2_v1_2_2.png)
 
diff --git a/README_cn.md b/README_cn.md
index 5eceaae..b0817c8 100644
--- a/README_cn.md
+++ b/README_cn.md
@@ -5,7 +5,9 @@
 
 ### 简介
 
-ESP-Drone 是基于乐鑫 ESP32-S2/ESP32 开发的小型无人机解决方案，可使用手机 APP 或游戏手柄通过 Wi-Fi 网络进行连接和控制。目前已支持自稳定飞行、定高飞行、定点飞行等多种模式。该方案硬件结构简单，代码架构清晰完善，方便功能扩展，可用于 STEAM 教育等领域。控制系统代码来自 Crazyflie 开源工程，使用 GPL3.0 开源协议。
+ESP-Drone 是基于乐鑫 ESP32/ESP32-S2/S3 开发的小型无人机解决方案，可使用手机 APP 或游戏手柄通过 Wi-Fi 网络进行连接和控制。目前已支持自稳定飞行、定高飞行、定点飞行等多种模式。该方案硬件结构简单，代码架构清晰完善，方便功能扩展，可用于 STEAM 教育等领域。控制系统代码来自 Crazyflie 开源工程，使用 GPL3.0 开源协议。
+
+> 目前已支持 ESP32、ESP32S2、ESP32S3, 请使用 ESP-IDF [release/v4.4](https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html) 分支
 
 ![ESP-Drone](./docs/_static/espdrone_s2_v1_2_2.png)
 
diff --git a/components/config/component.mk b/components/config/component.mk
deleted file mode 100644
index e69de29..0000000
diff --git a/components/config/include/config.h b/components/config/include/config.h
index 8c76698..9ef178d 100644
--- a/components/config/include/config.h
+++ b/components/config/include/config.h
@@ -47,11 +47,17 @@
 #define QUAD_FORMATION_X
 
 #ifdef CONFIG_TARGET_ESPLANE_V2_S2
-  #define TARGET_MCU_ESP32S2
+#ifndef CONFIG_IDF_TARGET_ESP32S2
+#error "ESPLANE_V2 hardware with ESP32S2 onboard"
+#endif
 #elif defined(CONFIG_TARGET_ESPLANE_V1)
-  #define TARGET_MCU_ESP32
+#ifndef CONFIG_IDF_TARGET_ESP32
+#error "ESPLANE_V1 hardware with ESP32 onboard"
+#endif
 #elif defined(CONFIG_TARGET_ESP32_S2_DRONE_V1_2)
-  #define TARGET_MCU_ESP32S2
+#ifdef CONFIG_IDF_TARGET_ESP32
+#error "ESP32_S2_DRONE_V1_2 hardware with ESP32S2/S3 onboard"
+#endif
 #endif
 
 #ifdef STM32F4XX 
@@ -147,10 +153,10 @@
 #define ESKYLINK_TASK_NAME      "ESKYLINK"
 #define SYSLINK_TASK_NAME       "SYSLINK"
 #define USBLINK_TASK_NAME       "USBLINK"
-#define WIFILINK_TASK_NAME       "WIFILINK"
-#define UDP_TX_TASK_NAME "UDP_TX"
-#define UDP_RX_TASK_NAME  "UDP_RX"
-#define UDP_RX2_TASK_NAME  "UDP_RX2"
+#define WIFILINK_TASK_NAME      "WIFILINK"
+#define UDP_TX_TASK_NAME        "UDP_TX"
+#define UDP_RX_TASK_NAME        "UDP_RX"
+#define UDP_RX2_TASK_NAME       "UDP_RX2"
 #define PROXIMITY_TASK_NAME     "PROXIMITY"
 #define EXTRX_TASK_NAME         "EXTRX"
 #define UART_RX_TASK_NAME       "UART"
@@ -194,7 +200,7 @@
 #define ESKYLINK_TASK_STACKSIZE       (1 * configBASE_STACK_SIZE)
 #define SYSLINK_TASK_STACKSIZE        (1 * configBASE_STACK_SIZE)
 #define USBLINK_TASK_STACKSIZE        (1 * configBASE_STACK_SIZE)
-#define WIFILINK_TASK_STACKSIZE       (5 * configBASE_STACK_SIZE)
+#define WIFILINK_TASK_STACKSIZE       (6 * configBASE_STACK_SIZE)
 #define UDP_TX_TASK_STACKSIZE         (2 * configBASE_STACK_SIZE)
 #define UDP_RX_TASK_STACKSIZE         (4 * configBASE_STACK_SIZE)
 #define UDP_RX2_TASK_STACKSIZE        (1 * configBASE_STACK_SIZE)
diff --git a/components/core/crazyflie/CMakeLists.txt b/components/core/crazyflie/CMakeLists.txt
index fd004fe..8625c59 100644
--- a/components/core/crazyflie/CMakeLists.txt
+++ b/components/core/crazyflie/CMakeLists.txt
@@ -68,9 +68,14 @@ idf_component_register(SRCS "./hal/src/buzzer.c"
                 "./utils/src/version.c"
                 "./utils/src/rateSupervisor.c"
                 INCLUDE_DIRS "./hal/interface" "./modules/interface" "./utils/interface"
-                REQUIRES i2c_bus deck mpu6050 ms5611 hmc5883l pmw3901 vl53l1 vl53l0 platform config led eeprom dsp_lib motors wifi adc)
+                REQUIRES i2c_bus deck mpu6050 ms5611 hmc5883l pmw3901 vl53l1 vl53l0 platform config led eeprom dsp_lib motors wifi adc esp_timer)
 
 idf_component_get_property( FREERTOS_ORIG_INCLUDE_PATH freertos ORIG_INCLUDE_PATH)
 target_include_directories(${COMPONENT_TARGET} PUBLIC
   "${FREERTOS_ORIG_INCLUDE_PATH}"
 )
+target_compile_options(${COMPONENT_LIB} PRIVATE "-fno-strict-aliasing"
+                                                "-Wno-error=stringop-truncation"
+                                                "-Wno-absolute-value"
+                                                "-Wno-address-of-packed-member"
+                                                "-Wno-stringop-truncation")
\ No newline at end of file
diff --git a/components/core/crazyflie/hal/interface/pm_esplane.h b/components/core/crazyflie/hal/interface/pm_esplane.h
index 33c78e6..f000d00 100644
--- a/components/core/crazyflie/hal/interface/pm_esplane.h
+++ b/components/core/crazyflie/hal/interface/pm_esplane.h
@@ -28,8 +28,9 @@
 #ifndef PM_H_
 #define PM_H_
 
-#include "driver/adc.h"
+#include "esp_idf_version.h"
 #include "syslink.h"
+#include "driver/adc.h"
 //#include "deck.h"
 
 #ifndef CRITICAL_LOW_VOLTAGE
diff --git a/components/core/crazyflie/hal/src/sensors_mpu6050_hm5883L_ms5611.c b/components/core/crazyflie/hal/src/sensors_mpu6050_hm5883L_ms5611.c
index f3d068a..ff9258b 100644
--- a/components/core/crazyflie/hal/src/sensors_mpu6050_hm5883L_ms5611.c
+++ b/components/core/crazyflie/hal/src/sensors_mpu6050_hm5883L_ms5611.c
@@ -140,9 +140,7 @@ static xQueueHandle barometerDataQueue;
 STATIC_MEM_QUEUE_ALLOC(barometerDataQueue, 1, sizeof(baro_t));
 
 static xSemaphoreHandle sensorsDataReady;
-static StaticSemaphore_t sensorsDataReadyBuffer;
 static xSemaphoreHandle dataReady;
-static StaticSemaphore_t dataReadyBuffer;
 
 static bool isInit = false;
 static sensorData_t sensorData;
@@ -168,15 +166,22 @@ static void applyAxis3fLpf(lpf2pData *data, Axis3f *in);
 
 static bool isBarometerPresent = false;
 static bool isMagnetometerPresent = false;
+#ifdef SENSORS_ENABLE_RANGE_VL53L1X
 static bool isVl53l1xPresent = false;
+#endif
+#ifdef SENSORS_ENABLE_RANGE_VL53L0X
 static bool isVl53l0xPresent = false;
+#endif
+#ifdef SENSORS_ENABLE_FLOW_PMW3901
 static bool isPmw3901Present = false;
-
+#endif
 static bool isMpu6050TestPassed = false;
+#ifdef SENSORS_ENABLE_MAG_HM5883L
 static bool isHmc5883lTestPassed = false;
+#endif
+#ifdef SENSORS_ENABLE_PRESSURE_MS5611
 static bool isMs5611TestPassed = false;
-static bool isVl53l1xTestPassed = false;
-static bool isPmw3901TestPassed = false;
+#endif
 
 // Pre-calculated values for accelerometer alignment
 float cosPitch;
@@ -409,7 +414,9 @@ static void sensorsDeviceInit(void)
     if (mpu6050TestConnection() == true) {
         DEBUG_PRINTI("MPU6050 I2C connection [OK].\n");
     } else {
-        DEBUG_PRINTW("MPU6050 I2C connection [FAIL].\n");
+        DEBUG_PRINTE("MPU6050 I2C connection [FAIL].\n");
+        // Please check your hardware !
+        assert(0);
     }
 
     mpu6050Reset();
@@ -514,7 +521,6 @@ static void sensorsDeviceInit(void)
 #endif
 
 #ifdef SENSORS_ENABLE_FLOW_PMW3901
-
     flowdeck2Init();
 
     if (flowdeck2Test() == true) {
@@ -525,9 +531,6 @@ static void sensorsDeviceInit(void)
         //TODO: Should sensor test fail hard if no connection
         DEBUG_PRINTW("PMW3901 SPI connection [FAIL].\n");
     }
-
-
-
 #endif
 
     DEBUG_PRINTI("sensors init done");
@@ -635,17 +638,22 @@ static void sensorsInterruptInit(void)
 {
 
     DEBUG_PRINTD("sensorsInterruptInit \n");
-    gpio_config_t io_conf;
-    //interrupt of rising edge
-    io_conf.intr_type = GPIO_PIN_INTR_POSEDGE;
-    //bit mask of the pins
-    io_conf.pin_bit_mask = (1ULL << GPIO_INTA_MPU6050_IO);
-    //set as input mode
-    io_conf.mode = GPIO_MODE_INPUT;
-    //disable pull-down mode
-    io_conf.pull_down_en = 0;
-    //enable pull-up mode
-    io_conf.pull_up_en = 1;
+    gpio_config_t io_conf = {
+        //interrupt of rising edge
+#if ESP_IDF_VERSION_MAJOR > 4
+        .intr_type = GPIO_INTR_POSEDGE,
+#else
+        .intr_type = GPIO_PIN_INTR_POSEDGE,
+#endif
+        //bit mask of the pins
+        .pin_bit_mask = (1ULL << GPIO_INTA_MPU6050_IO),
+        //set as input mode
+        .mode = GPIO_MODE_INPUT,
+        //disable pull-down mode
+        .pull_down_en = 0,
+        //enable pull-up mode
+        .pull_up_en = 1,
+    };
     sensorsDataReady = xSemaphoreCreateBinary();
     dataReady = xSemaphoreCreateBinary();
     gpio_config(&io_conf);
@@ -1047,5 +1055,6 @@ PARAM_GROUP_STOP(imu_sensors)
 PARAM_GROUP_START(imu_tests)
 PARAM_ADD(PARAM_UINT8 | PARAM_RONLY, mpu6050, &isMpu6050TestPassed)
 PARAM_ADD(PARAM_UINT8 | PARAM_RONLY, HMC5883L, &isMagnetometerPresent)
+PARAM_ADD(PARAM_UINT8 | PARAM_RONLY, pmw3901, &isPmw3901Present)
 PARAM_ADD(PARAM_UINT8 | PARAM_RONLY, MS5611, &isBarometerPresent) // TODO: Rename MS5611 to LPS25H. Client needs to be updated at the same time.
 PARAM_GROUP_STOP(imu_tests)
diff --git a/components/core/crazyflie/hal/src/wifilink.c b/components/core/crazyflie/hal/src/wifilink.c
index 8472616..a03747d 100644
--- a/components/core/crazyflie/hal/src/wifilink.c
+++ b/components/core/crazyflie/hal/src/wifilink.c
@@ -63,9 +63,6 @@ static int wifilinkReceiveCRTPPacket(CRTPPacket *p);
 
 STATIC_MEM_TASK_ALLOC(wifilinkTask, USBLINK_TASK_STACKSIZE);
 
-static float rch, pch, ych;
-static uint16_t tch;
-
 static bool wifilinkIsConnected(void)
 {
     return (xTaskGetTickCount() - lastPacketTick) < M2T(WIFI_ACTIVITY_TIMEOUT_MS);
@@ -78,6 +75,7 @@ static struct crtpLinkOperations wifilinkOp = {
     .isConnected       = wifilinkIsConnected,
 };
 
+#ifdef CONFIG_ENABLE_LEGACY_APP
 static bool detectOldVersionApp(UDPPacket *in)
 {
 
@@ -89,6 +87,7 @@ static bool detectOldVersionApp(UDPPacket *in)
 
     return false;
 }
+#endif
 
 static void wifilinkTask(void *param)
 {
@@ -97,7 +96,8 @@ static void wifilinkTask(void *param)
         wifiGetDataBlocking(&wifiIn);
         lastPacketTick = xTaskGetTickCount();
 #ifdef CONFIG_ENABLE_LEGACY_APP
-
+        float rch, pch, ych;
+        uint16_t tch;
         if (detectOldVersionApp(&wifiIn)) {
             rch  = (1.0) * (float)(((((uint16_t)wifiIn.data[1] << 8) + (uint16_t)wifiIn.data[2]) - 296) * 15.0 / 150.0); //-15~+15
             pch  = (-1.0) * (float)(((((uint16_t)wifiIn.data[3] << 8) + (uint16_t)wifiIn.data[4]) - 296) * 15.0 / 150.0); //-15~+15
diff --git a/components/core/crazyflie/modules/src/crtp_commander_high_level.c b/components/core/crazyflie/modules/src/crtp_commander_high_level.c
index 3bdf7b5..18e1a8e 100644
--- a/components/core/crazyflie/modules/src/crtp_commander_high_level.c
+++ b/components/core/crazyflie/modules/src/crtp_commander_high_level.c
@@ -109,10 +109,11 @@ static StaticSemaphore_t lockTrajBuffer;
 static float defaultTakeoffVelocity = 0.5f;
 static float defaultLandingVelocity = 0.5f;
 
+// TODO
 // Trajectory memory handling from the memory module
-static uint32_t handleMemGetSize(void) { return crtpCommanderHighLevelTrajectoryMemSize(); }
-static bool handleMemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer);
-static bool handleMemWrite(const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer);
+// static uint32_t handleMemGetSize(void) { return crtpCommanderHighLevelTrajectoryMemSize(); }
+// static bool handleMemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer);
+// static bool handleMemWrite(const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer);
 // static const MemoryHandlerDef_t memDef = {
 //   .type = MEM_TYPE_TRAJ,
 //   .getSize = handleMemGetSize,
@@ -628,13 +629,13 @@ int define_trajectory(const struct data_define_trajectory* data)
   return 0;
 }
 
-static bool handleMemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer) {
-  return crtpCommanderHighLevelReadTrajectory(memAddr, readLen, buffer);
-}
+// static bool handleMemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer) {
+//   return crtpCommanderHighLevelReadTrajectory(memAddr, readLen, buffer);
+// }
 
-static bool handleMemWrite(const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer) {
-  return crtpCommanderHighLevelWriteTrajectory(memAddr, writeLen, buffer);
-}
+// static bool handleMemWrite(const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer) {
+//   return crtpCommanderHighLevelWriteTrajectory(memAddr, writeLen, buffer);
+// }
 
 uint8_t* initCrtpPacket(CRTPPacket* packet, const enum TrajectoryCommand_e command)
 {
diff --git a/components/core/crazyflie/modules/src/crtp_commander_rpyt.c b/components/core/crazyflie/modules/src/crtp_commander_rpyt.c
index 977a116..17c9e60 100644
--- a/components/core/crazyflie/modules/src/crtp_commander_rpyt.c
+++ b/components/core/crazyflie/modules/src/crtp_commander_rpyt.c
@@ -116,7 +116,7 @@ void setCommandermode(FlightMode mode){
     registerRequiredEstimator(complementaryEstimator);   
     break;
   }
-  DEBUG_PRINTI("FlightMode = %u",mode);
+  DEBUG_PRINTI("FlightMode = %d",mode);
 #else
   DEBUG_PRINTI("set FlightMode disable");
 #endif
diff --git a/components/core/crazyflie/modules/src/estimator_kalman.c b/components/core/crazyflie/modules/src/estimator_kalman.c
index cddfb47..9abf5ce 100644
--- a/components/core/crazyflie/modules/src/estimator_kalman.c
+++ b/components/core/crazyflie/modules/src/estimator_kalman.c
@@ -55,7 +55,7 @@
  * 2019.04.12, Kristoffer Richardsson: Refactored, separated kalman implementation from OS related functionality
  *
  */
-
+#include <inttypes.h>
 #include "kalman_core.h"
 #include "estimator_kalman.h"
 #include "kalman_supervisor.h"
@@ -332,7 +332,7 @@ static void kalmanTask(void* parameters) {
       nextPrediction = osTick + S2T(1.0f / PREDICT_RATE);
 
       if (!rateSupervisorValidate(&rateSupervisorContext, T2M(osTick))) {
-        DEBUG_PRINT("WARNING: Kalman prediction rate low (%u)\n", rateSupervisorLatestCount(&rateSupervisorContext));
+        DEBUG_PRINT("WARNING: Kalman prediction rate low (%"PRIu32")\n", rateSupervisorLatestCount(&rateSupervisorContext));
       }
     }
 
diff --git a/components/core/crazyflie/modules/src/log.c b/components/core/crazyflie/modules/src/log.c
index 073c4ec..cf6b258 100644
--- a/components/core/crazyflie/modules/src/log.c
+++ b/components/core/crazyflie/modules/src/log.c
@@ -146,7 +146,7 @@ void logBlockTimed(xTimerHandle timer);
 
 //These are set by the Linker
 extern struct log_s _log_start;
-extern struct log_s _log_stop;
+extern struct log_s _log_end;
 
 //Pointer to the logeters list and length of it
 static struct log_s * logs;
@@ -181,7 +181,7 @@ void logInit(void)
     return;
 
   logs = &_log_start;
-  logsLen = &_log_stop - &_log_start;
+  logsLen = &_log_end - &_log_start;
 
   // Calculate a hash of the toc by chaining description of each elements
   // Using the CRTP packet as temporary buffer
diff --git a/components/core/crazyflie/modules/src/mem.c b/components/core/crazyflie/modules/src/mem.c
index 1a435a1..79f0be0 100644
--- a/components/core/crazyflie/modules/src/mem.c
+++ b/components/core/crazyflie/modules/src/mem.c
@@ -28,7 +28,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <string.h>
-
+#include <inttypes.h>
 /* FreeRtos includes */
 #include "FreeRTOS.h"
 #include "task.h"
@@ -341,7 +341,7 @@ static bool handleMemTesterWrite(const uint32_t memAddr, const uint8_t writeLen,
     if (actualData != expectedData) {
       // Log first error
       if (memTesterWriteErrorCount == 0) {
-        DEBUG_PRINT("Verification failed: expected: %d, actual: %d, addr: %u\n", expectedData, actualData, addr);
+        DEBUG_PRINT("Verification failed: expected: %d, actual: %d, addr: %"PRIu32"\n", expectedData, actualData, addr);
       }
 
       memTesterWriteErrorCount++;
diff --git a/components/core/crazyflie/modules/src/param.c b/components/core/crazyflie/modules/src/param.c
index b4b18ec..7a784fe 100644
--- a/components/core/crazyflie/modules/src/param.c
+++ b/components/core/crazyflie/modules/src/param.c
@@ -82,7 +82,7 @@ void paramTOCProcess(int command);
 
 //These are set by the Linker
 extern struct param_s _param_start;
-extern struct param_s _param_stop;
+extern struct param_s _param_end;
 
 //The following two function SHALL NOT be called outside paramTask!
 static void paramWriteProcess();
@@ -115,7 +115,7 @@ void paramInit(void)
     return;
 
   params = &_param_start;
-  paramsLen = &_param_stop - &_param_start;
+  paramsLen = &_param_end - &_param_start;
 
   // Calculate a hash of the toc by chaining description of each elements
   // Using the CRTP packet as temporary buffer
diff --git a/components/core/crazyflie/modules/src/stabilizer.c b/components/core/crazyflie/modules/src/stabilizer.c
index de1e7db..fe67fa3 100644
--- a/components/core/crazyflie/modules/src/stabilizer.c
+++ b/components/core/crazyflie/modules/src/stabilizer.c
@@ -25,6 +25,7 @@
  */
 
 #include <math.h>
+#include <inttypes.h>
 
 #include "FreeRTOS.h"
 #include "task.h"
@@ -322,7 +323,7 @@ static void stabilizerTask(void* param)
 
     if (!rateSupervisorValidate(&rateSupervisorContext, xTaskGetTickCount())) {
       if (!rateWarningDisplayed) {
-        DEBUG_PRINT("WARNING: stabilizer loop rate is off (%u)\n", rateSupervisorLatestCount(&rateSupervisorContext));
+        DEBUG_PRINT("WARNING: stabilizer loop rate is off (%"PRIu32")\n", rateSupervisorLatestCount(&rateSupervisorContext));
         rateWarningDisplayed = true;
       }
     }
diff --git a/components/core/crazyflie/modules/src/sysload.c b/components/core/crazyflie/modules/src/sysload.c
index c75b3e1..bc6d23d 100644
--- a/components/core/crazyflie/modules/src/sysload.c
+++ b/components/core/crazyflie/modules/src/sysload.c
@@ -28,6 +28,7 @@
 
 
 #include <stdbool.h>
+#include <inttypes.h>
 #include "FreeRTOS.h"
 #include "timers.h"
 #include "cfassert.h"
@@ -101,20 +102,20 @@ static void timerHandler(xTimerHandle timer) {
     // CPU usage is since last dump in % compared to total time spent in tasks. Note that time spent in interrupts will be included in measured time.
     // Stack usage is displayed as nr of unused bytes at peak stack usage.
 
-    DEBUG_PRINTI("Task dump\n");
-    DEBUG_PRINTI("Load\tStack left\tName\tPRI\n");
+    DEBUG_PRINTI("Task dump");
+    DEBUG_PRINTI("Load\tStack left\tName\tPRI");
     for (uint32_t i = 0; i < taskCount; i++) {
       TaskStatus_t* stats = &taskStats[i];
       taskData_t* previousTaskData = getPreviousTaskData(stats->xTaskNumber);
 
       uint32_t taskRunTime = stats->ulRunTimeCounter;
       float load = f * (taskRunTime - previousTaskData->ulRunTimeCounter);
-      DEBUG_PRINTI("%.2f \t%u \t%s \t%u\n", (double)load, stats->usStackHighWaterMark, stats->pcTaskName,stats->uxBasePriority);
+      DEBUG_PRINTI("%.2f \t%"PRIu32" \t%s \t%d", (double)load, stats->usStackHighWaterMark, stats->pcTaskName,stats->uxBasePriority);
 
       previousTaskData->ulRunTimeCounter = taskRunTime;
     }
 
-    DEBUG_PRINTI("Free heap: %d bytes\n", xPortGetFreeHeapSize());
+    DEBUG_PRINTI("Free heap: %"PRIu32" bytes", xPortGetFreeHeapSize());
     previousTotalRunTime = totalRunTime;
 
     triggerDump = 0;
diff --git a/components/core/crazyflie/modules/src/system.c b/components/core/crazyflie/modules/src/system.c
index 51cd206..e9874a3 100644
--- a/components/core/crazyflie/modules/src/system.c
+++ b/components/core/crazyflie/modules/src/system.c
@@ -26,7 +26,7 @@
  */
 
 #include <stdbool.h>
-
+#include <inttypes.h>
 /* FreeRtos includes */
 #include "FreeRTOS.h"
 #include "task.h"
@@ -264,7 +264,7 @@ void systemTask(void *arg)
       ledSet(SYS_LED, true);
     }
   }
-  DEBUG_PRINT("Free heap: %d bytes\n", xPortGetFreeHeapSize());
+  DEBUG_PRINT("Free heap: %"PRIu32" bytes\n", xPortGetFreeHeapSize());
 
   workerLoop();
 
diff --git a/components/drivers/deck/component.mk b/components/drivers/deck/component.mk
deleted file mode 100644
index e69de29..0000000
diff --git a/components/drivers/deck/deck_digital.c b/components/drivers/deck/deck_digital.c
index cc81621..3624063 100644
--- a/components/drivers/deck/deck_digital.c
+++ b/components/drivers/deck/deck_digital.c
@@ -26,25 +26,19 @@
 
 void pinMode(uint32_t pin, uint32_t mode)
 {
-#ifdef TARGET_MCU_ESP32
-    if (pin > 35) {
-#elif defined(TARGET_MCU_ESP32S2)
-    if (pin > 43) {
-#endif
+    if (!GPIO_IS_VALID_GPIO((int)pin)) {
         return;
     }
 
-    gpio_config_t io_conf;
-    //disable interrupt
-    io_conf.intr_type = GPIO_PIN_INTR_DISABLE;
-    //bit mask of the pins that you want to set,e.g.GPIO18/19
-    io_conf.pin_bit_mask = (1ULL << pin);
-    //disable pull-down mode
-    io_conf.pull_down_en = 0;
-    //disable pull-up mode
-    io_conf.pull_up_en = 0;
-    //configure GPIO with the given settings
-
+    gpio_config_t io_conf = {
+        //bit mask of the pins that you want to set,e.g.GPIO18/19
+        .pin_bit_mask = (1ULL << pin),
+        //disable pull-down mode
+        .pull_down_en = 0,
+        //disable pull-up mode
+        .pull_up_en = 0,
+        //configure GPIO with the given settings
+    };
     //set as output mode
     if (mode == OUTPUT) {
         io_conf.mode = GPIO_MODE_OUTPUT;
@@ -65,11 +59,7 @@ void pinMode(uint32_t pin, uint32_t mode)
 
 void digitalWrite(uint32_t pin, uint32_t val)
 {
-#ifdef TARGET_MCU_ESP32
-    if (pin > 35) {
-#elif defined(TARGET_MCU_ESP32S2)
-    if (pin > 43) {
-#endif
+    if (!GPIO_IS_VALID_GPIO((int)pin)) {
         return;
     }
 
@@ -82,12 +72,8 @@ void digitalWrite(uint32_t pin, uint32_t val)
 
 int digitalRead(uint32_t pin)
 {
-#ifdef TARGET_MCU_ESP32
-    if (pin > 35) {
-#elif defined(TARGET_MCU_ESP32S2)
-    if (pin > 43) {
-#endif
-        return 0;
+    if (!GPIO_IS_VALID_GPIO((int)pin)) {
+        return -1;
     }
 
     int val = gpio_get_level(pin);
diff --git a/components/drivers/deck/deck_spi.c b/components/drivers/deck/deck_spi.c
index 4210e91..f1e3a61 100644
--- a/components/drivers/deck/deck_spi.c
+++ b/components/drivers/deck/deck_spi.c
@@ -74,20 +74,21 @@ void spiBegin(void)
         /*.pre_cb = lcd_spi_pre_transfer_callback, //Specify pre-transfer callback to handle D/C line*/
     };
     //Initialize the SPI bus
-#ifdef TARGET_MCU_ESP32
-    ret = spi_bus_initialize(HSPI_HOST, &buscfg, 1);
-#elif defined(TARGET_MCU_ESP32S2)
-    ret = spi_bus_initialize(HSPI_HOST, &buscfg, 2);
+    spi_host_device_t host_id = SPI2_HOST;
+#if (ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 3, 0))
+    ret = spi_bus_initialize(host_id, &buscfg, SPI_DMA_CH_AUTO);
+#else
+    int dma_chan = host_id; //set dma channel equals to host_id by default
+    ret = spi_bus_initialize(host_id, &buscfg, dma_chan);
 #endif
     ESP_ERROR_CHECK(ret);
     //Attach the pmw3901 to the SPI bus
-    ret = spi_bus_add_device(HSPI_HOST, &devcfg, &spi);
+    ret = spi_bus_add_device(host_id, &devcfg, &spi);
     ESP_ERROR_CHECK(ret);
 
     isInit = true;
 }
 
-
 static void spiConfigureWithSpeed(uint32_t baudRatePrescaler)
 {
     //TODO:
@@ -105,7 +106,7 @@ bool spiExchange(size_t length, bool is_tx, const uint8_t *data_tx, uint8_t *dat
     }
 
     if (length == 0) {
-        return;    //no need to send anything
+        return true;    //no need to send anything
     }
 
     esp_err_t ret;
diff --git a/components/drivers/general/adc/CMakeLists.txt b/components/drivers/general/adc/CMakeLists.txt
index 6d9fd07..e2662f1 100644
--- a/components/drivers/general/adc/CMakeLists.txt
+++ b/components/drivers/general/adc/CMakeLists.txt
@@ -1,3 +1,9 @@
+if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER_EQUAL "5.0")
 idf_component_register(SRCS "adc_esp32.c"
                        INCLUDE_DIRS "." "include"
-                       REQUIRES crazyflie config esp_adc_cal)
\ No newline at end of file
+                       REQUIRES crazyflie config esp_adc)
+else()
+idf_component_register(SRCS "adc_esp32.c"
+                       INCLUDE_DIRS "." "include"
+                       REQUIRES crazyflie config esp_adc_cal)
+endif()
diff --git a/components/drivers/general/adc/adc_esp32.c b/components/drivers/general/adc/adc_esp32.c
index 08adeb1..57d14f9 100644
--- a/components/drivers/general/adc/adc_esp32.c
+++ b/components/drivers/general/adc/adc_esp32.c
@@ -21,9 +21,9 @@
  *
  */
 
+#include "esp_idf_version.h"
 #include "driver/adc.h"
 #include "esp_adc_cal.h"
-
 #include "adc_esp32.h"
 #include "config.h"
 #include "pm_esplane.h"
@@ -34,43 +34,18 @@
 static bool isInit;
 
 static esp_adc_cal_characteristics_t *adc_chars;
-#ifdef TARGET_MCU_ESP32
+#ifdef CONFIG_IDF_TARGET_ESP32
 static const adc_channel_t channel = ADC_CHANNEL_7; //GPIO35 if ADC1
-static const adc_bits_width_t width = ADC_WIDTH_BIT_12;
-#elif defined(TARGET_MCU_ESP32S2)
+#elif defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
 static const adc_channel_t channel = ADC_CHANNEL_1;     // GPIO2 if ADC1
-static const adc_bits_width_t width = ADC_WIDTH_BIT_13;
 #endif
 
+static const adc_bits_width_t width = ADC_WIDTH_MAX-1;
 static const adc_atten_t atten = ADC_ATTEN_DB_11;   //11dB attenuation (ADC_ATTEN_DB_11) gives full-scale voltage 3.9V
 static const adc_unit_t unit = ADC_UNIT_1;
 #define DEFAULT_VREF 1100 //Use adc2_vref_to_gpio() to obtain a better estimate
 #define NO_OF_SAMPLES   30          //Multisampling
 
-static void checkEfuse(void)
-{
-#ifdef TARGET_MCU_ESP32
-    //Check if TP is burned into eFuse
-    if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_TP) == ESP_OK) {
-        printf("eFuse Two Point: Supported\n");
-    } else {
-        printf("eFuse Two Point: NOT supported\n");
-    }
-    //Check Vref is burned into eFuse
-    if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_VREF) == ESP_OK) {
-        printf("eFuse Vref: Supported\n");
-    } else {
-        printf("eFuse Vref: NOT supported\n");
-    }
-#elif defined(TARGET_MCU_ESP32S2)
-    if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_TP) == ESP_OK) {
-        printf("eFuse Two Point: Supported\n");
-    } else {
-        printf("Cannot retrieve eFuse Two Point calibration values. Default calibration values will be used.\n");
-    }
-#endif
-}
-
 static void print_char_val_type(esp_adc_cal_value_t val_type)
 {
     if (val_type == ESP_ADC_CAL_VAL_EFUSE_TP) {
@@ -106,8 +81,6 @@ void adcInit(void)
         return;
     }
 
-    checkEfuse();
-    //Configure ADC
     if (unit == ADC_UNIT_1) {
         adc1_config_width(width);
         adc1_config_channel_atten(channel, atten);
diff --git a/components/drivers/general/adc/component.mk b/components/drivers/general/adc/component.mk
deleted file mode 100644
index 8b13789..0000000
--- a/components/drivers/general/adc/component.mk
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/components/drivers/general/buzzer/component.mk b/components/drivers/general/buzzer/component.mk
deleted file mode 100644
index 8b13789..0000000
--- a/components/drivers/general/buzzer/component.mk
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/components/drivers/general/led/component.mk b/components/drivers/general/led/component.mk
deleted file mode 100644
index 8b13789..0000000
--- a/components/drivers/general/led/component.mk
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/components/drivers/general/led/led_esp32.c b/components/drivers/general/led/led_esp32.c
index bbdb26c..3eea3f4 100644
--- a/components/drivers/general/led/led_esp32.c
+++ b/components/drivers/general/led/led_esp32.c
@@ -51,17 +51,16 @@ void ledInit()
     }
 
     for (i = 0; i < LED_NUM; i++) {
-        gpio_config_t io_conf;
-        //disable interrupt
-        io_conf.intr_type = GPIO_PIN_INTR_DISABLE;
-        //bit mask of the pins that you want to set,e.g.GPIO18/19
-        io_conf.pin_bit_mask = (1ULL << led_pin[i]);
-        //disable pull-down mode
-        io_conf.pull_down_en = 0;
-        //disable pull-up mode
-        io_conf.pull_up_en = 0;
-        //set as output mode
-        io_conf.mode = GPIO_MODE_OUTPUT;
+        gpio_config_t io_conf = {
+            //bit mask of the pins that you want to set,e.g.GPIO18/19
+            .pin_bit_mask = (1ULL << led_pin[i]),
+            //disable pull-down mode
+            .pull_down_en = 0,
+            //disable pull-up mode
+            .pull_up_en = 0,
+            //set as output mode
+            .mode = GPIO_MODE_OUTPUT,
+        };
         //configure GPIO with the given settings
         gpio_config(&io_conf);
         ledSet(i, 0);
diff --git a/components/drivers/general/motors/component.mk b/components/drivers/general/motors/component.mk
deleted file mode 100644
index e69de29..0000000
diff --git a/components/drivers/general/wifi/CMakeLists.txt b/components/drivers/general/wifi/CMakeLists.txt
index a0b7619..1971523 100644
--- a/components/drivers/general/wifi/CMakeLists.txt
+++ b/components/drivers/general/wifi/CMakeLists.txt
@@ -1,3 +1,3 @@
 idf_component_register(SRCS "wifi_esp32.c"
-                       INCLUDE_DIRS "." "include"
-                     REQUIRES crazyflie platform config)
\ No newline at end of file
+                      INCLUDE_DIRS "." "include"
+                      REQUIRES crazyflie platform config esp_wifi)
\ No newline at end of file
diff --git a/components/drivers/general/wifi/component.mk b/components/drivers/general/wifi/component.mk
deleted file mode 100644
index 8b13789..0000000
--- a/components/drivers/general/wifi/component.mk
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/components/drivers/general/wifi/wifi_esp32.c b/components/drivers/general/wifi/wifi_esp32.c
index 0f22e3e..c4cd7d6 100644
--- a/components/drivers/general/wifi/wifi_esp32.c
+++ b/components/drivers/general/wifi/wifi_esp32.c
@@ -27,7 +27,13 @@ static struct sockaddr_in6 source_addr; // Large enough for both IPv4 or IPv6
 //#define WIFI_SSID      "Udp Server"
 static char WIFI_SSID[32] = "ESP-DRONE";
 static char WIFI_PWD[64] = "12345678" ;
-#define MAX_STA_CONN (1)
+static uint8_t WIFI_CH = 1;
+#define MAX_STA_CONN (3)
+
+#ifndef MAC2STR
+#define MAC2STR(a) (a)[0], (a)[1], (a)[2], (a)[3], (a)[4], (a)[5]
+#define MACSTR "%02x:%02x:%02x:%02x:%02x:%02x"
+#endif
 
 static char rx_buffer[UDP_SERVER_BUFSIZE];
 static char tx_buffer[UDP_SERVER_BUFSIZE];
@@ -65,18 +71,14 @@ static void wifi_event_handler(void *arg, esp_event_base_t event_base,
 {
     if (event_id == WIFI_EVENT_AP_STACONNECTED) {
         wifi_event_ap_staconnected_t *event = (wifi_event_ap_staconnected_t *) event_data;
-        DEBUG_PRINT_LOCAL("station "MACSTR" join, AID=%d",
-                          MAC2STR(event->mac), event->aid);
+        DEBUG_PRINT_LOCAL("station" MACSTR "join, AID=%d", MAC2STR(event->mac), event->aid);
 
     } else if (event_id == WIFI_EVENT_AP_STADISCONNECTED) {
         wifi_event_ap_stadisconnected_t *event = (wifi_event_ap_stadisconnected_t *) event_data;
-        DEBUG_PRINT_LOCAL("station "MACSTR" leave, AID=%d",
-                          MAC2STR(event->mac), event->aid);
+        DEBUG_PRINT_LOCAL("station" MACSTR "leave, AID=%d", MAC2STR(event->mac), event->aid);
     } 
 }
 
-
-
 bool wifiTest(void)
 {
     return isInit;
@@ -224,13 +226,17 @@ void wifiInit(void)
     ESP_ERROR_CHECK(esp_wifi_get_mac(ESP_IF_WIFI_AP, mac));
     sprintf(WIFI_SSID, "ESP-DRONE_%02X%02X%02X%02X%02X%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
 
-    wifi_config_t wifi_config;
+    wifi_config_t wifi_config = {
+        .ap = {
+            .channel = WIFI_CH,
+            .max_connection = MAX_STA_CONN,
+            .authmode = WIFI_AUTH_WPA_WPA2_PSK,
+        },
+    };
+
     memcpy(wifi_config.ap.ssid, WIFI_SSID, strlen(WIFI_SSID) + 1) ;
     wifi_config.ap.ssid_len = strlen(WIFI_SSID);
     memcpy(wifi_config.ap.password, WIFI_PWD, strlen(WIFI_PWD) + 1) ;
-    wifi_config.ap.max_connection = MAX_STA_CONN;
-    wifi_config.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
-    wifi_config.ap.channel  = 13;
 
     if (strlen(WIFI_PWD) == 0) {
         wifi_config.ap.authmode = WIFI_AUTH_OPEN;
diff --git a/components/drivers/i2c_bus/CMakeLists.txt b/components/drivers/i2c_bus/CMakeLists.txt
index 6b9ad72..c69254b 100644
--- a/components/drivers/i2c_bus/CMakeLists.txt
+++ b/components/drivers/i2c_bus/CMakeLists.txt
@@ -1,4 +1,4 @@
 idf_component_register(SRCS "i2c_drv.c" "i2cdev_esp32.c"
                        INCLUDE_DIRS "include"
-                       REQUIRES crazyflie platform 
+                       REQUIRES crazyflie platform driver
                        PRIV_REQUIRES config)
\ No newline at end of file
diff --git a/components/drivers/i2c_bus/component.mk b/components/drivers/i2c_bus/component.mk
deleted file mode 100644
index e69de29..0000000
diff --git a/components/drivers/i2c_bus/i2c_drv.c b/components/drivers/i2c_bus/i2c_drv.c
index 9a8fb8c..ad49b00 100644
--- a/components/drivers/i2c_bus/i2c_drv.c
+++ b/components/drivers/i2c_bus/i2c_drv.c
@@ -109,14 +109,8 @@ void i2cdrvInit(I2cDrv *i2c)
     i2cdrvInitBus(i2c);
 }
 
-static void i2cdrvTryToRestartBus(I2cDrv *i2c)
+void i2cdrvTryToRestartBus(I2cDrv *i2c)
 {
     i2cdrvInitBus(i2c);
 }
 
-
-
-
-
-
-
diff --git a/components/drivers/i2c_devices/eeprom/component.mk b/components/drivers/i2c_devices/eeprom/component.mk
deleted file mode 100644
index 8b13789..0000000
--- a/components/drivers/i2c_devices/eeprom/component.mk
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/components/drivers/i2c_devices/eeprom/eeprom.c b/components/drivers/i2c_devices/eeprom/eeprom.c
index b371658..b383f1d 100644
--- a/components/drivers/i2c_devices/eeprom/eeprom.c
+++ b/components/drivers/i2c_devices/eeprom/eeprom.c
@@ -25,21 +25,17 @@
 #include <string.h>
 
 #include "esp_err.h"
-#include "esp_spi_flash.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
-
 #include "eeprom.h"
 #include "debug_cf.h"
 #include "eprintf.h"
 
-
 #ifdef EEPROM_RUN_WRITE_READ_TEST
+#include "esp_spi_flash.h"
 static bool eepromTestWriteRead(void);
 #endif
 
-static uint8_t devAddr;
-static I2C_Dev *I2Cx;
 static bool isInit;
 
 bool eepromInit(I2C_Dev *i2cPort)
@@ -48,9 +44,7 @@ bool eepromInit(I2C_Dev *i2cPort)
         return true;
     }
 
-    // I2Cx = i2cPort;
-    // devAddr = EEPROM_I2C_ADDR;
-    spi_flash_init();
+    //TODOspi_flash_init();
     DEBUG_PRINTI("spi_flash_init ... !");
 
     isInit = true;
@@ -107,7 +101,7 @@ bool eepromTestConnection(void)
 bool eepromReadBuffer(uint8_t *buffer, size_t readAddr, size_t len)
 {
     bool status = false;
-    esp_err_t err = spi_flash_read(readAddr, buffer, len);
+    esp_err_t err = ESP_OK; //TODO spi_flash_read(readAddr, buffer, len);
 
     if (err == ESP_OK) {
 
@@ -126,7 +120,8 @@ bool eepromWriteBuffer(uint8_t *buffer, size_t writeAddr, size_t len)
     bool status = false;
     writeAddr += EEPROM_IN_FLASH_ADDR;
 
-    if (spi_flash_write(writeAddr, buffer, len) == ESP_OK) {
+    //TODO if (spi_flash_write(writeAddr, buffer, len) == ESP_OK) {
+    if (1) {
 
         status = true;
 
diff --git a/components/drivers/i2c_devices/hmc5883l/component.mk b/components/drivers/i2c_devices/hmc5883l/component.mk
deleted file mode 100644
index e69de29..0000000
diff --git a/components/drivers/i2c_devices/mpu6050/component.mk b/components/drivers/i2c_devices/mpu6050/component.mk
deleted file mode 100644
index e69de29..0000000
diff --git a/components/drivers/i2c_devices/ms5611/component.mk b/components/drivers/i2c_devices/ms5611/component.mk
deleted file mode 100644
index e69de29..0000000
diff --git a/components/drivers/i2c_devices/vl53l0/component.mk b/components/drivers/i2c_devices/vl53l0/component.mk
deleted file mode 100644
index e69de29..0000000
diff --git a/components/drivers/i2c_devices/vl53l0/vl53l0x.c b/components/drivers/i2c_devices/vl53l0/vl53l0x.c
index 0b66686..165fc2f 100644
--- a/components/drivers/i2c_devices/vl53l0/vl53l0x.c
+++ b/components/drivers/i2c_devices/vl53l0/vl53l0x.c
@@ -91,7 +91,7 @@ uint16_t vl53l0xReadReg16Bit(VL53L0xDev *dev, uint8_t reg);
 static bool vl53l0xWriteReg16Bit(VL53L0xDev *dev, uint8_t reg, uint16_t val);
 static bool vl53l0xWriteReg32Bit(VL53L0xDev *dev, uint8_t reg, uint32_t val);
 
-static int nextI2CAddress = VL53L0X_DEFAULT_ADDRESS + 1;
+//static int nextI2CAddress = VL53L0X_DEFAULT_ADDRESS + 1;
 
 /** Default constructor, uses default I2C address.
  * @see VL53L0X_DEFAULT_ADDRESS
diff --git a/components/drivers/i2c_devices/vl53l1/component.mk b/components/drivers/i2c_devices/vl53l1/component.mk
deleted file mode 100644
index 25c70db..0000000
--- a/components/drivers/i2c_devices/vl53l1/component.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPONENT_ADD_INCLUDEDIRS := . include core/inc 
-COMPONENT_SRCDIRS  := . core/src 
diff --git a/components/drivers/spi_devices/pmw3901/component.mk b/components/drivers/spi_devices/pmw3901/component.mk
deleted file mode 100644
index e69de29..0000000
diff --git a/components/drivers/spi_devices/pmw3901/flowdeck_v1v2.c b/components/drivers/spi_devices/pmw3901/flowdeck_v1v2.c
index e852776..c54fc4b 100755
--- a/components/drivers/spi_devices/pmw3901/flowdeck_v1v2.c
+++ b/components/drivers/spi_devices/pmw3901/flowdeck_v1v2.c
@@ -86,10 +86,10 @@ static void flowdeckTask(void *param)
 
     while (1) {
 // if task watchdog triggered,flow frequency should set lower
-#ifdef TARGET_MCU_ESP32S2
-        vTaskDelay(10);
-#elif defined(TARGET_MCU_ESP32)
+#ifdef CONFIG_IDF_TARGET_ESP32S2
         vTaskDelay(10);
+#elif defined(CONFIG_IDF_TARGET_ESP32S3) || defined(CONFIG_IDF_TARGET_ESP32)
+        vTaskDelay(5);
 #endif
 
         pmw3901ReadMotion(NCS_PIN, &currentMotion);
@@ -122,10 +122,10 @@ static void flowdeckTask(void *param)
             flowData.stdDevY = stdFlow;    // [pixels] should perhaps be made larger?
 
 // if task watchdog triggered,flow frequency should set lower
-#ifdef TARGET_MCU_ESP32S2
-            flowData.dt = 0.01;
-#elif defined(TARGET_MCU_ESP32)
+#ifdef CONFIG_IDF_TARGET_ESP32S2
             flowData.dt = 0.01;
+#elif defined(CONFIG_IDF_TARGET_ESP32S3) || defined(CONFIG_IDF_TARGET_ESP32)
+            flowData.dt = 0.005;
 #endif
 
 #if defined(USE_MA_SMOOTHING)
diff --git a/components/lib/dsp_lib/CMakeLists.txt b/components/lib/dsp_lib/CMakeLists.txt
index 6ab3f8a..039cf86 100644
--- a/components/lib/dsp_lib/CMakeLists.txt
+++ b/components/lib/dsp_lib/CMakeLists.txt
@@ -1,10 +1,13 @@
 idf_component_register(SRC_DIRS "BasicMathFunctions"
-            "CommonTables" 
-            "ComplexMathFunctions" 
-            "ControllerFunctions" 
-            "FastMathFunctions" 
-            "FilteringFunctions" 
-            "MatrixFunctions" 
-            "StatisticsFunctions" 
-            "TransformFunctions"
-                       INCLUDE_DIRS "include")
\ No newline at end of file
+                        "CommonTables"
+                        "ComplexMathFunctions"
+                        "ControllerFunctions"
+                        "FastMathFunctions"
+                        "FilteringFunctions"
+                        "MatrixFunctions"
+                        "StatisticsFunctions"
+                        "TransformFunctions"
+                        INCLUDE_DIRS "include"
+                    )
+
+target_compile_options(${COMPONENT_LIB} PUBLIC "-fno-strict-aliasing")
\ No newline at end of file
diff --git a/components/lib/dsp_lib/component.mk b/components/lib/dsp_lib/component.mk
deleted file mode 100644
index 78b8b17..0000000
--- a/components/lib/dsp_lib/component.mk
+++ /dev/null
@@ -1,4 +0,0 @@
-COMPONENT_SRCDIRS:=BasicMathFunctions CommonTables ComplexMathFunctions ControllerFunctions \
-	FastMathFunctions FilteringFunctions MatrixFunctions StatisticsFunctions\
-	TransformFunctions 
-CFLAGS += -D ARM_MATH_CM4
\ No newline at end of file
diff --git a/components/platform/component.mk b/components/platform/component.mk
deleted file mode 100644
index 8b13789..0000000
--- a/components/platform/component.mk
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/components/platform/platform_esp32.c b/components/platform/platform_esp32.c
index c7cc767..f0829a2 100644
--- a/components/platform/platform_esp32.c
+++ b/components/platform/platform_esp32.c
@@ -31,24 +31,19 @@
 #error
 #endif
 
-
 #define DEFAULT_PLATFORM_STRING "0;EP20"
 
-
-#ifndef UNIT_TEST_MODE
-static char *getAddressOfOtpMemoryBlock(int blockNr)
-{
-    //TODO:
-    //return block adress
-    return (char *)(0x1fff7800 + blockNr * 0x20);
-}
-#else
-// This function is replaced by a mock in unit tests
-char *getAddressOfOtpMemoryBlock(const int blockNr);
-#endif
-
-
-
+//     //TODO:
+// #ifndef UNIT_TEST_MODE
+// static char *getAddressOfOtpMemoryBlock(int blockNr)
+// {
+//     //return block adress
+//     return (char *)(0x1fff7800 + blockNr * 0x20);
+// }
+// #else
+// // This function is replaced by a mock in unit tests
+// char *getAddressOfOtpMemoryBlock(const int blockNr);
+// #endif
 
 void platformGetDeviceTypeString(char *deviceTypeString)
 {
diff --git a/docs/en/rst/getespidf.rst b/docs/en/rst/getespidf.rst
index 7167310..ab369a2 100644
--- a/docs/en/rst/getespidf.rst
+++ b/docs/en/rst/getespidf.rst
@@ -5,34 +5,14 @@ Set up Development Environment
 Set up ESP-IDF Environment 
 ---------------------------------
 
-Please refer to `ESP-IDF Programming Guide <https://docs.espressif.com/projects/esp-idf/en/latest/esp32s2/get-started/index.html>`__\  and set up ESP-IDF environmnet step by step.
+Please refer to `ESP-IDF Programming Guide <https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html>`__\  and set up ESP-IDF environmnet step by step.
 
 .. note::
 
--  ESP-IDF branch ``release /v4.2`` is suggested.
+-  ESP-IDF branch ``release /v4.4`` is suggested.
 -  Please follow and complete all setup steps.
 -  Build a example of ESP-IDF to make sure the setup is successful.
 
-Modify ESP32/ESP32-S2 Link Script
---------------------------------------
-
-Open the link script template for ESP32/ESP32-S2 ``${IDF_PATH}/components/esp32/ld/esp32.project.ld.in`` and ``${IDF_PATH}/components/esp32s2/ld/esp32s2.project.ld.in``\. Put the following code at the end of ``.flash.rodata``.
-
-::
-
-      /* Parameters and log system data */
-       _param_start = .;
-       KEEP(*(.param))
-       KEEP(*(.param.*))
-       _param_stop = .;
-       . = ALIGN(4);
-       _log_start = .;
-       KEEP(*(.log))
-       KEEP(*(.log.*))
-       _log_stop = .;
-       . = ALIGN(4);
-
-The above code can place variables with ``.param.*`` or ``.log.*`` segment attributes at continuous storage area so as to speed up variable traversal. 
 
 Get Project Source Code 
 ---------------------------------------------------
diff --git a/docs/en/rst/gettingstarted.rst b/docs/en/rst/gettingstarted.rst
index 1dd167f..3c5e4e0 100755
--- a/docs/en/rst/gettingstarted.rst
+++ b/docs/en/rst/gettingstarted.rst
@@ -87,7 +87,7 @@ ESP-IDF is the IoT Development Framework provided by Espressif for ESP32/ESP32-S
 
 
 For more information, please check `ESP-IDF
-Programming Guide <https://docs.espressif.com/projects/esp-idf/zh_CN/latest/esp32s2/get-started/index.html>`__.
+Programming Guide <https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html>`__.
 
 Crazyflie Overview
 =======================
diff --git a/docs/en/rst/system.rst b/docs/en/rst/system.rst
index 2fe8ec3..b823f42 100644
--- a/docs/en/rst/system.rst
+++ b/docs/en/rst/system.rst
@@ -124,7 +124,7 @@ The priority of system tasks can be configured in ``components/config/include/co
    #define UART1_TEST_TASK_PRI     1
    #define UART2_TEST_TASK_PRI     1
    //if task watchdog triggered, KALMAN_TASK_PRI should set lower or set lower flow frequency
-   #ifdef TARGET_MCU_ESP32
+   #ifdef CONFIG_IDF_TARGET_ESP32
      #define KALMAN_TASK_PRI         2
      #define LOG_TASK_PRI            1
      #define MEM_TASK_PRI            1
diff --git a/docs/zh_CN/md/getespidf.md b/docs/zh_CN/md/getespidf.md
index cf3344c..0b28458 100644
--- a/docs/zh_CN/md/getespidf.md
+++ b/docs/zh_CN/md/getespidf.md
@@ -3,7 +3,7 @@
 
 ## ESP-IDF 环境搭建
 
-请参照 [ESP-IDF 编程指南](https://docs.espressif.com/projects/esp-idf/zh_CN/latest/esp32s2/get-started/index.html)，按照步骤设置 ESP-IDF。
+请参照 [ESP-IDF 编程指南](https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html)，按照步骤设置 ESP-IDF。
 
 注意事项：
 
@@ -19,12 +19,12 @@
     _param_start = .;
     KEEP(*(.param))
     KEEP(*(.param.*))
-    _param_stop = .;
+    _param_end = .;
     . = ALIGN(4);
     _log_start = .;
     KEEP(*(.log))
     KEEP(*(.log.*))
-    _log_stop = .;
+    _log_end = .;
     . = ALIGN(4);
 ```
 
diff --git a/docs/zh_CN/md/gettingstarted.md b/docs/zh_CN/md/gettingstarted.md
index d3629a6..8ae9d63 100644
--- a/docs/zh_CN/md/gettingstarted.md
+++ b/docs/zh_CN/md/gettingstarted.md
@@ -35,7 +35,7 @@ ESP-IDF 是乐鑫为 ESP32/ESP32-S2 提供的物联网开发框架。
 * ESP-IDF 包含一系列库及头文件，提供了基于 ESP32/ESP32-S2 构建软件项目所需的核心组件。
 * ESP-IDF 还提供了开发和量产过程中最常用的工具及功能，例如：构建、烧录、调试和测量等。
 
-详情可查阅：[ESP-IDF 编程指南](https://docs.espressif.com/projects/esp-idf/zh_CN/latest/esp32s2/get-started/index.html)。
+详情可查阅：[ESP-IDF 编程指南](https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html)。
 
 ## Crazyflie 简介
 
diff --git a/docs/zh_CN/md/system.md b/docs/zh_CN/md/system.md
index c4c16eb..c541672 100644
--- a/docs/zh_CN/md/system.md
+++ b/docs/zh_CN/md/system.md
@@ -111,7 +111,7 @@ TASK 具体描述如下：
 #define UART1_TEST_TASK_PRI     1
 #define UART2_TEST_TASK_PRI     1
 //if task watchdog triggered, KALMAN_TASK_PRI should set lower or set lower flow frequency
-#ifdef TARGET_MCU_ESP32
+#ifdef CONFIG_IDF_TARGET_ESP32
   #define KALMAN_TASK_PRI         2
   #define LOG_TASK_PRI            1
   #define MEM_TASK_PRI            1
diff --git a/docs/zh_CN/rst/getespidf.rst b/docs/zh_CN/rst/getespidf.rst
index 948e3fd..d04a3b7 100644
--- a/docs/zh_CN/rst/getespidf.rst
+++ b/docs/zh_CN/rst/getespidf.rst
@@ -5,34 +5,14 @@
 ESP-IDF 环境搭建
 ----------------
 
-请参照 `ESP-IDF 编程指南 <https://docs.espressif.com/projects/esp-idf/zh_CN/latest/esp32s2/get-started/index.html>`__\ ，按照步骤设置 ESP-IDF。
+请参照 `ESP-IDF 编程指南 <https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html>`__\ ，按照步骤设置 ESP-IDF。
 
 注意事项：
 
--  推荐安装 ESP-IDF `release/v4.2` 分支；
+-  推荐安装 ESP-IDF `release/v4.4` 分支；
 -  请完成 ESP-IDF 所有安装步骤;
 -  建议首先编译一个 ESP-IDF 示例程序，用以检查安装的完整性。
 
-ESP32/ESP32-S2 链接脚本修改
----------------------------
-
-打开 ESP32/ESP32-S2 的链接脚本模板 ``${IDF_PATH}/components/esp32/ld/esp32.project.ld.in`` 和 ``${IDF_PATH}/components/esp32s2/ld/esp32s2.project.ld.in``\ ，将以下代码添加到 ``.flash.rodata`` 段的末尾。
-
-::
-
-      /* Parameters and log system data */
-       _param_start = .;
-       KEEP(*(.param))
-       KEEP(*(.param.*))
-       _param_stop = .;
-       . = ALIGN(4);
-       _log_start = .;
-       KEEP(*(.log))
-       KEEP(*(.log.*))
-       _log_stop = .;
-       . = ALIGN(4);
-
-以上代码可以实现将具有 ``.param.*`` 或 ``.log.*`` 段属性的变量，放置在连续的存储区域，从而加快变量遍历速度。
 
 获取项目源代码
 --------------
diff --git a/docs/zh_CN/rst/gettingstarted.rst b/docs/zh_CN/rst/gettingstarted.rst
index 8289991..64e1504 100644
--- a/docs/zh_CN/rst/gettingstarted.rst
+++ b/docs/zh_CN/rst/gettingstarted.rst
@@ -60,7 +60,7 @@ ESP-IDF 是乐鑫为 ESP32/ESP32-S2 提供的物联网开发框架。
 -  ESP-IDF 包含一系列库及头文件，提供了基于 ESP32/ESP32-S2 构建软件项目所需的核心组件。
 -  ESP-IDF 还提供了开发和量产过程中最常用的工具及功能，例如：构建、烧录、调试和测量等。
 
-详情可查阅：`ESP-IDF 编程指南 <https://docs.espressif.com/projects/esp-idf/zh_CN/latest/esp32s2/get-started/index.html>`__。
+详情可查阅：`ESP-IDF 编程指南 <https://docs.espressif.com/projects/esp-idf/en/release-v4.4/esp32s2/get-started/index.html>`__。
 
 Crazyflie 简介
 ================
diff --git a/docs/zh_CN/rst/system.rst b/docs/zh_CN/rst/system.rst
index 1efeacd..4d4b912 100644
--- a/docs/zh_CN/rst/system.rst
+++ b/docs/zh_CN/rst/system.rst
@@ -135,7 +135,7 @@ TASK 具体描述如下：
    #define UART1_TEST_TASK_PRI     1
    #define UART2_TEST_TASK_PRI     1
    //if task watchdog triggered, KALMAN_TASK_PRI should set lower or set lower flow frequency
-   #ifdef TARGET_MCU_ESP32
+   #ifdef CONFIG_IDF_TARGET_ESP32
      #define KALMAN_TASK_PRI         2
      #define LOG_TASK_PRI            1
      #define MEM_TASK_PRI            1
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 36b8a93..d669ed4 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -1,2 +1,3 @@
 idf_component_register(SRCS "main.c"
-                       INCLUDE_DIRS "." )
\ No newline at end of file
+                       INCLUDE_DIRS "."
+                       LDFRAGMENTS linker_fragment.lf)
\ No newline at end of file
diff --git a/main/Kconfig.projbuild b/main/Kconfig.projbuild
index 9f691d6..cac2d42 100644
--- a/main/Kconfig.projbuild
+++ b/main/Kconfig.projbuild
@@ -2,6 +2,7 @@ menu "ESPDrone Config"
 
     choice
         prompt "ESP_Drone hardware version"
+        default TARGET_ESP32_S2_DRONE_V1_2 if IDF_TARGET_ESP32S3
         default TARGET_ESP32_S2_DRONE_V1_2 if IDF_TARGET_ESP32S2
         default TARGET_ESPLANE_V1 if IDF_TARGET_ESP32
 
@@ -12,7 +13,7 @@ menu "ESPDrone Config"
             bool "esplane with esp32-s2 onboard"
 
         config TARGET_ESP32_S2_DRONE_V1_2
-            bool "esp-drone with esp32-s2 onboard"
+            bool "esp-drone with esp32-s2/s3 onboard"
 
     endchoice
 
@@ -70,9 +71,9 @@ menu "ESPDrone Config"
         config BASE_STACK_SIZE
             int "base stack size for system task"
             range 512 1024
-            default 512 if TARGET_ESPLANE_V2_S2
-            default 512 if TARGET_ESP32_S2_DRONE_V1_2
-            default 1024 if TARGET_ESPLANE_V1
+            default 1024 if IDF_TARGET_ESP32
+            default 512 if IDF_TARGET_ESP32S2
+            default 1024 if IDF_TARGET_ESP32S3
 
     endmenu
 
diff --git a/main/component.mk b/main/component.mk
deleted file mode 100644
index e69de29..0000000
diff --git a/main/linker_fragment.lf b/main/linker_fragment.lf
new file mode 100644
index 0000000..5753310
--- /dev/null
+++ b/main/linker_fragment.lf
@@ -0,0 +1,19 @@
+[sections:_param]
+entries:
+    .param+
+
+[sections:_log]
+entries:
+    .log+
+
+[scheme:_table]
+entries:
+    _param -> flash_rodata
+    _log -> flash_rodata
+
+[mapping:my_project]
+archive: *
+entries:
+    * (_table);
+        _param -> flash_rodata KEEP() ALIGN(4, pre, post) SURROUND(param),
+        _log -> flash_rodata KEEP() ALIGN(4, pre, post) SURROUND(log)
diff --git a/sdkconfig.defaults b/sdkconfig.defaults
index f405d78..5282768 100644
--- a/sdkconfig.defaults
+++ b/sdkconfig.defaults
@@ -1,127 +1,26 @@
-#
-# default value. DO NOT EDIT.
-# Espressif IoT Development Framework (ESP-IDF) Project Configuration
-#
 
-#
-# Component config
-#
-
-#
-# ESP32S2-specific
-#
-# CONFIG_ESP32S2_DEFAULT_CPU_FREQ_80 is not set
-# CONFIG_ESP32S2_DEFAULT_CPU_FREQ_160 is not set
 CONFIG_ESP32S2_DEFAULT_CPU_FREQ_240=y
 CONFIG_ESP32S2_DEFAULT_CPU_FREQ_MHZ=240
-
-#
-# ESP32-specific
-CONFIG_ESP32_DEFAULT_CPU_FREQ_240=y
-CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ=240
-
-#
-# PHY
-#
-# CONFIG_ESP32_PHY_INIT_DATA_IN_PARTITION is not set
 CONFIG_ESP32_PHY_MAX_WIFI_TX_POWER=20
 CONFIG_ESP32_PHY_MAX_TX_POWER=20
-# end of PHY
 
-#
-# FreeRTOS
-#
-CONFIG_FREERTOS_UNICORE=y
+CONFIG_FREERTOS_UNICORE=n
 CONFIG_FREERTOS_NO_AFFINITY=0x7FFFFFFF
 CONFIG_FREERTOS_CORETIMER_0=y
-# CONFIG_FREERTOS_CORETIMER_1 is not set
 CONFIG_FREERTOS_OPTIMIZED_SCHEDULER=y
 CONFIG_FREERTOS_HZ=1000
-CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y
-# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set
-# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set
-CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY=y
-# CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK is not set
-CONFIG_FREERTOS_INTERRUPT_BACKTRACE=y
-CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=1
-CONFIG_FREERTOS_ASSERT_FAIL_ABORT=y
-# CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE is not set
-# CONFIG_FREERTOS_ASSERT_DISABLE is not set
-CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536
-CONFIG_FREERTOS_ISR_STACKSIZE=1536
-# CONFIG_FREERTOS_LEGACY_HOOKS is not set
-CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16
 CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION=y
-# CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is not set
-CONFIG_FREERTOS_TIMER_TASK_PRIORITY=1
-CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=3072
-CONFIG_FREERTOS_TIMER_QUEUE_LENGTH=10
-CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE=0
 CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_FREERTOS_USE_STATS_FORMATTING_FUNCTIONS=y
-# CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS is not set
-CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS=y
-CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER=y
-CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER=y
-CONFIG_FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER=y
-# CONFIG_FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE is not set
-CONFIG_FREERTOS_DEBUG_OCDAWARE=y
-# end of FreeRTOS
+CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=2048
+CONFIG_FREERTOS_ISR_STACKSIZE=2048
+CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY=y
 
-#
-# Serial flasher config
-#
-CONFIG_ESPTOOLPY_BAUD_OTHER_VAL=115200
-CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
-# CONFIG_ESPTOOLPY_FLASHMODE_QOUT is not set
-# CONFIG_ESPTOOLPY_FLASHMODE_DIO is not set
-# CONFIG_ESPTOOLPY_FLASHMODE_DOUT is not set
-CONFIG_ESPTOOLPY_FLASHMODE="dio"
-CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
-# CONFIG_ESPTOOLPY_FLASHFREQ_40M is not set
-# CONFIG_ESPTOOLPY_FLASHFREQ_26M is not set
-# CONFIG_ESPTOOLPY_FLASHFREQ_20M is not set
-CONFIG_ESPTOOLPY_FLASHFREQ="80m"
-# CONFIG_ESPTOOLPY_FLASHSIZE_1MB is not set
-# CONFIG_ESPTOOLPY_FLASHSIZE_2MB is not set
-CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
-# CONFIG_ESPTOOLPY_FLASHSIZE_8MB is not set
-# CONFIG_ESPTOOLPY_FLASHSIZE_16MB is not set
-CONFIG_ESPTOOLPY_FLASHSIZE="4MB"
-CONFIG_ESPTOOLPY_FLASHSIZE_DETECT=y
-CONFIG_ESPTOOLPY_BEFORE_RESET=y
-# CONFIG_ESPTOOLPY_BEFORE_NORESET is not set
-CONFIG_ESPTOOLPY_BEFORE="default_reset"
-CONFIG_ESPTOOLPY_AFTER_RESET=y
-# CONFIG_ESPTOOLPY_AFTER_NORESET is not set
-CONFIG_ESPTOOLPY_AFTER="hard_reset"
-# CONFIG_ESPTOOLPY_MONITOR_BAUD_9600B is not set
-# CONFIG_ESPTOOLPY_MONITOR_BAUD_57600B is not set
-CONFIG_ESPTOOLPY_MONITOR_BAUD_115200B=y
-# CONFIG_ESPTOOLPY_MONITOR_BAUD_230400B is not set
-# CONFIG_ESPTOOLPY_MONITOR_BAUD_921600B is not set
-# CONFIG_ESPTOOLPY_MONITOR_BAUD_2MB is not set
-# CONFIG_ESPTOOLPY_MONITOR_BAUD_OTHER is not set
-CONFIG_ESPTOOLPY_MONITOR_BAUD_OTHER_VAL=115200
-CONFIG_ESPTOOLPY_MONITOR_BAUD=115200
-# end of Serial flasher config
-
-#
-# Compiler options
-#
-# CONFIG_COMPILER_OPTIMIZATION_DEFAULT is not set
-# CONFIG_COMPILER_OPTIMIZATION_SIZE is not set
 CONFIG_COMPILER_OPTIMIZATION_PERF=y
-# CONFIG_COMPILER_OPTIMIZATION_NONE is not set
 CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_ENABLE=y
-# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT is not set
-# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE is not set
-# CONFIG_COMPILER_CXX_EXCEPTIONS is not set
-# CONFIG_COMPILER_CXX_RTTI is not set
 CONFIG_COMPILER_STACK_CHECK_MODE_NONE=y
-# CONFIG_COMPILER_STACK_CHECK_MODE_NORM is not set
-# CONFIG_COMPILER_STACK_CHECK_MODE_STRONG is not set
-# CONFIG_COMPILER_STACK_CHECK_MODE_ALL is not set
-# CONFIG_COMPILER_WARN_WRITE_STRINGS is not set
-# CONFIG_COMPILER_DISABLE_GCC8_WARNINGS is not set
-# end of Compiler options
+
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=3072
+CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
+CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
+
diff --git a/sdkconfig.defaults.esp32 b/sdkconfig.defaults.esp32
deleted file mode 100644
index dcaba56..0000000
--- a/sdkconfig.defaults.esp32
+++ /dev/null
@@ -1,4 +0,0 @@
-#
-# FreeRTOS
-#
-CONFIG_FREERTOS_UNICORE=n
\ No newline at end of file
diff --git a/sdkconfig.defaults.esp32s2 b/sdkconfig.defaults.esp32s2
new file mode 100644
index 0000000..737ec12
--- /dev/null
+++ b/sdkconfig.defaults.esp32s2
@@ -0,0 +1,3 @@
+CONFIG_FREERTOS_UNICORE=y
+CONFIG_ESP32S2_DEFAULT_CPU_FREQ_240=y
+CONFIG_ESP32S2_DEFAULT_CPU_FREQ_MHZ=240
\ No newline at end of file
diff --git a/sdkconfig.defaults.esp32s3 b/sdkconfig.defaults.esp32s3
new file mode 100644
index 0000000..cc2c8cb
--- /dev/null
+++ b/sdkconfig.defaults.esp32s3
@@ -0,0 +1,3 @@
+CONFIG_FREERTOS_UNICORE=n
+CONFIG_ESP32S3_DEFAULT_CPU_FREQ_240=y
+CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ=240
\ No newline at end of file