As the PCB also forms the structural frame ... 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 ...

Interestingly, [Dimitris] decided to go with a chassis made from two PCB panels. The motors ... For the controller, [Dimitris] says the ESP32 is hard to beat by pretty much any metric you want ...