As [Circuit Digest] demonstrates with their variant of the ESP-Drone project by Espressif, you only need a minimum of parts: an ESP32 MCU, an inertial measurement unit (IMU) such as the MPU6050 ...

We’ve seen tons of projects lately using the ESP32-C3, and for good reason ... a detriment to a project that needs a really compact MCU and tries coiling up the antenna, with limited success.