I’ve been playing with a few MicroPython projects recently on several different embedded platforms, including a couple of ESP32 WiFi modules. There are various ways to program these modules: … ...

There are already many cheap ESP32 drones on AliExpress, or you can even make an ESP32 DIY drone for about $12, but ...

He eventually settled on a “bottum-up” approach to build a library for the platform, rather than implementing MicroPython directly as a firmware image for the ESP32.