Firmware for the ESP32-S3 copter

Is there a firmware for a drone on the ESP32-S3? I understand that there are 3 UARTs, but it would still be interesting to run a copter on this firmware.

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ESP32

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you can build firmware from the steps described in the wiki and the specific esp32 steps: GitHub

As you posted here in the “Traditional Helicopter” forum, you are looking for a multicopter or for a TradiHeli firmware.
For a small multicopter ESP32 based FC can work, but on TradiHeli I am not sure as the max scheduler looprate is relative slow.