I did port my esp8266 quadcopter flightcontroller to the esp32. RC control is done with ESP_NOW. Attititude sensor is a mpu6050 connected via I2S. Ouput to ESC is 4 channels of hardware pwm.
https://github.com/PepeTheFroggie/EspCopter32
The transmitter is an esp8266 listening to the PPM signal of an RC radio. Communication is done with ESP_NOW.
https://github.com/PepeTheFroggie/espnow_RC_TX
ESP32 flightcontroller for Quadcopter
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