How to make ESP 32 DIY FLIGHT CONTROLLER PROTOTYPE #2 | Part 2

So I have learnt from my past mistakes and made this newer version of ESP32 flight controller. The code and setup remain the same. Disclaimer- this is a basic code to help people understand the flight computation of a quadcopter using inexpensive development boards. It is not meant for professional purpose. Please verify all the information before taking a flight, please test the code outdoors and take necessary safety precautions, the quadcopter has lot of destructive energy. I have referred below giants for the code and overall understanding of the flight controller. Joop Brokking YT- @Joop_Brokking Carbon Aeronautics YT- @carbonaeronautics