I know some of the most stable nano drones built where they used STM32 to drive motor because PWM signal has to be very accurate for stable flight. And then use ESP-12E to build a webserver to control from the Mobile App. You can try something similar, I know implementing flight control algorithm is a lot of work but can be done for nano drones
On a mission to provide Pune, India with a free IOT data network! We are building a free (as in beer), open network (free as in speech), based on an open-source stack, owned by the …