One of its key features is a system of expansion modules ... which is something [Spacehuhn] has taken on with an ESP32-S3 development board. The board itself is what you’d expect, the ESP ...

The [Circuit Digest] project follows the ESPlane-V2-S2 version with no expansion boards, but the ESP32-S2-Drone V1.2 mainboard can be extended with position-hold, pressure and compass modules ...