diff --git a/libraries/AP_Filesystem/AP_Filesystem.cpp b/libraries/AP_Filesystem/AP_Filesystem.cpp
index bf983977d5..279d1fc069 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem.cpp
@@ -27,6 +27,11 @@ int errno;
 #endif // HAVE_FILESYSTEM_SUPPORT
 #endif // HAL_BOARD_CHIBIOS
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
+#include "AP_Filesystem_ESP32.h"
+static AP_Filesystem_ESP32 fs_local;
+#endif // HAL_BOARD_ESP32
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include "AP_Filesystem_posix.h"
 static AP_Filesystem_Posix fs_local;
diff --git a/libraries/AP_Filesystem/AP_Filesystem.h b/libraries/AP_Filesystem/AP_Filesystem.h
index d40b9a447c..f42562a73d 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.h
+++ b/libraries/AP_Filesystem/AP_Filesystem.h
@@ -47,6 +47,10 @@ struct dirent {
 #include "AP_Filesystem_posix.h"
 #endif
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
+#include "AP_Filesystem_ESP32.h"
+#endif
+
 #include "AP_Filesystem_backend.h"
 
 class AP_Filesystem {
diff --git a/libraries/AP_Filesystem/AP_Filesystem_ESP32.cpp b/libraries/AP_Filesystem/AP_Filesystem_ESP32.cpp
new file mode 100644
index 0000000000..3e34ba4a23
--- /dev/null
+++ b/libraries/AP_Filesystem/AP_Filesystem_ESP32.cpp
@@ -0,0 +1,195 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+  ArduPilot filesystem interface for esp32 systems
+ */
+#include "AP_Filesystem.h"
+#include <AP_HAL/AP_HAL.h>
+
+#if HAVE_FILESYSTEM_SUPPORT
+#if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
+
+#define FSDEBUG 0
+
+#include <utime.h>
+
+extern const AP_HAL::HAL& hal;
+
+int AP_Filesystem_ESP32::open(const char *fname, int flags)
+{
+#if FSDEBUG
+    printf("DO open %s \n", fname);
+#endif
+    // we automatically add O_CLOEXEC as we always want it for ArduPilot FS usage
+    return ::open(fname, flags | O_TRUNC | O_CLOEXEC, 0666);
+}
+
+int AP_Filesystem_ESP32::close(int fd)
+{
+#if FSDEBUG
+    printf("DO close \n");
+#endif
+    return ::close(fd);
+}
+
+ssize_t AP_Filesystem_ESP32::read(int fd, void *buf, size_t count)
+{
+#if FSDEBUG
+    printf("DO read \n");
+#endif
+    return ::read(fd, buf, count);
+}
+
+ssize_t AP_Filesystem_ESP32::write(int fd, const void *buf, size_t count)
+{
+#if FSDEBUG
+    printf("DO write \n");
+#endif
+    return ::write(fd, buf, count);
+}
+
+int AP_Filesystem_ESP32::fsync(int fd)
+{
+#if FSDEBUG
+    printf("DO fsync \n");
+#endif
+    return ::fsync(fd);
+}
+
+int32_t AP_Filesystem_ESP32::lseek(int fd, int32_t offset, int seek_from)
+{
+#if FSDEBUG
+    printf("DO lseek \n");
+#endif
+    return ::lseek(fd, offset, seek_from);
+}
+
+int AP_Filesystem_ESP32::stat(const char *pathname, struct stat *stbuf)
+{
+#if FSDEBUG
+    printf("DO stat %s \n", pathname);
+#endif
+    return ::stat(pathname, stbuf);
+}
+
+int AP_Filesystem_ESP32::unlink(const char *pathname)
+{
+#if FSDEBUG
+    printf("DO unlink %s \n", pathname);
+#endif
+    return ::unlink(pathname);
+}
+
+int AP_Filesystem_ESP32::mkdir(const char *pathname)
+{
+#if FSDEBUG
+    printf("DO mkdir %s \n", pathname);
+#endif
+    return ::mkdir(pathname, 0777);
+}
+
+void* AP_Filesystem_ESP32::opendir(const char *pathname)
+{
+#if FSDEBUG
+    printf("DO opendir %s \n", pathname);
+#endif
+
+    return (void*)::opendir(pathname);
+    //	return NULL;
+}
+
+struct dirent *AP_Filesystem_ESP32::readdir(void *dirp)
+{
+#if FSDEBUG
+    printf("DO readdir \n");
+#endif
+    return ::readdir((DIR*)dirp);
+    //	return NULL;
+}
+
+int AP_Filesystem_ESP32::closedir(void *dirp)
+{
+#if FSDEBUG
+    printf("DO closedir \n");
+#endif
+
+    return ::closedir((DIR*)dirp);
+    //	return 0;
+}
+
+// return free disk space in bytes
+int64_t AP_Filesystem_ESP32::disk_free(const char *path)
+{
+
+#if FSDEBUG
+    printf("DO free disk %s \n", path);
+#endif
+    FATFS *fs;
+    DWORD fre_clust, fre_sect;
+
+    /* Get volume information and free clusters of sdcard */
+    auto res = f_getfree("/SDCARD/", &fre_clust, &fs);
+    if (res) {
+        return -1;
+    }
+
+    /* Get total sectors and free sectors */
+    fre_sect = fre_clust * fs->csize;
+
+    int64_t tmp_free_bytes = fre_sect * FF_SS_SDCARD;
+
+    return tmp_free_bytes;
+}
+
+// return total disk space in bytes
+int64_t AP_Filesystem_ESP32::disk_space(const char *path)
+{
+#if FSDEBUG
+    printf("DO usage disk %s \n", path);
+#endif
+    FATFS *fs;
+    DWORD fre_clust, tot_sect;
+
+    /* Get volume information and free clusters of sdcard */
+    auto res = f_getfree("/SDCARD/", &fre_clust, &fs);
+    if (res) {
+        return -1;
+    }
+
+    /* Get total sectors and free sectors */
+    tot_sect = (fs->n_fatent - 2) * fs->csize;
+
+    int64_t tmp_total_bytes = tot_sect * FF_SS_SDCARD;
+
+    return tmp_total_bytes;
+}
+
+/*
+  set mtime on a file
+ */
+bool AP_Filesystem_ESP32::set_mtime(const char *filename, const uint32_t mtime_sec)
+{
+
+#if FSDEBUG
+    printf("DO time %s \n", filename);
+#endif
+    struct utimbuf times {};
+    times.actime = mtime_sec;
+    times.modtime = mtime_sec;
+
+    return utime(filename, &times) == 0;
+}
+
+#endif // CONFIG_HAL_BOARD
+#endif
diff --git a/libraries/AP_Filesystem/AP_Filesystem_ESP32.h b/libraries/AP_Filesystem/AP_Filesystem_ESP32.h
new file mode 100644
index 0000000000..bdc03fbd33
--- /dev/null
+++ b/libraries/AP_Filesystem/AP_Filesystem_ESP32.h
@@ -0,0 +1,46 @@
+#pragma once
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <sys/unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <dirent.h>
+#include "esp_err.h"
+#include "esp_log.h"
+#include "esp_vfs_fat.h"
+#include "driver/sdmmc_host.h"
+#include "driver/sdspi_host.h"
+#include "sdmmc_cmd.h"
+
+#include "AP_Filesystem_backend.h"
+
+class AP_Filesystem_ESP32 : public AP_Filesystem_Backend
+{
+public:
+    // functions that closely match the equivalent posix calls
+    int open(const char *fname, int flags) override;
+    int close(int fd) override;
+    int32_t read(int fd, void *buf, uint32_t count) override;
+    int32_t write(int fd, const void *buf, uint32_t count) override;
+    int fsync(int fd) override;
+    int32_t lseek(int fd, int32_t offset, int whence) override;
+    int stat(const char *pathname, struct stat *stbuf) override;
+    int unlink(const char *pathname) override;
+    int mkdir(const char *pathname) override;
+    void *opendir(const char *pathname) override;
+    struct dirent *readdir(void *dirp) override;
+    int closedir(void *dirp) override;
+
+    // return free disk space in bytes, -1 on error
+    int64_t disk_free(const char *path) override;
+
+    // return total disk space in bytes, -1 on error
+    int64_t disk_space(const char *path) override;
+
+    // set modification time on a file
+    bool set_mtime(const char *filename, const uint32_t mtime_sec) override;
+};
+