Here is a short test flight of EspCopter:
https://youtu.be/OhVVPzNwx6M

Here the EspCopter telemetry over espnow, gyro data:
https://youtu.be/0AWHVxgIqno

I do have a version for normal ESC, untested. Searching for experienced copterpilots / builders / esp8266 users for test.

https://i.imgur.com/4qbZ2tQ.jpg Arduino IDE, you need the Arduino ESPNOW extension. Firmware is "espnow_6050". Esp8266, mpu6050, four 0xF5 esc with 128kbaud. Flies like a wet sponge. You have been warned. The attached firmware is just for illustration, not finished in any way, but i have ...