A great example of that is this barebones quadcopter build from [hebel23] all the way back in 2015. The build is based around the STM32F4 Discovery Board, which [hebel23] scored as a giveaway at ...

What’s the cheapest quadcopter you can build? As [Circuit Digest] demonstrates with their variant of the ESP-Drone project by Espressif, you only need a minimum of parts: an ESP32 MCU ...