My work isn't as nearly as impressive as yours, I have some ESP32 boards and a Pi at hand and wanted to build a drone that adapts to different geometries and motors of inconsistent specs so I built this realistic as possible drone simulator that also simulates the boards alongside with the radio, battery, sensors and motors inside a physics simulator. The code that runs in the real boards is executed as a WebAssembly so it behaves exactly the same as it receives simulated sensor data.

The Pi board is intended for navigation and more complex tasks and is able to update the ESP32 flight controller even mid-flight.