ESP32 drone
A drone flight controller on an open-source ESP32 PCB, with IMU and barometer sensing and ESP-to-ESP wireless control.
A flight controller built around an ESP32, using an open-source PCB design from CircuitDigest that I had fabricated through JLCPCB.
An MPU6050 IMU handles attitude, a barometric sensor estimates altitude, and control comes over an ESP-to-ESP wireless link. Most of the work was in sensor interfacing and firmware rather than in the airframe.