I did port my esp8266 quadcopter flightcontroller to the esp32. RC control is done with ESP_NOW. Attititude sensor is a mpu6050 connected via I2S. Ouput to ESC is 4 channels of hardware pwm. https://github.com/PepeTheFroggie/EspCopter32 The transmitter is an esp8266 listening to the PPM signal of an...