rtlopez/esp-fc ? reverse-engineered prompt

Build me a flight controller firmware for a DIY quadcopter using ESP32, with support for common gyro boards like MPU6050 and MPU9250, and a setup flow that feels familiar to Betaflight users.

I want it to handle the basics for a hobby drone, motor output protocols like DSHOT and PWM, receiver input like SBUS, IBUS, CRSF, and ELRS, plus flight modes like Acro, Angle, and Airmode. It should also include tuning features, gyro filtering, failsafe, buzzer, LED, voltage monitoring, and blackbox logging.

Please make it easy to configure over USB or through a CLI, and let me map pins and hardware in a simple way. If anything needs current library or protocol details, look up the latest docs online. Keep it focused on getting a working build that I can flash, configure, and test on real hardware.