saaraswata/espquad32 ? reverse-engineered prompt

Build me the firmware for an ESP32 quadcopter that can be controlled over Wi Fi from a phone app or a gamepad. I want it to work on ESP32, ESP32 S2, and ESP32 S3, and be based on ESP IDF v4.4. The drone should support a basic stabilize mode, plus height hold, altitude hold, and position hold if the extra sensors or extension boards are available. Please keep the code easy to follow and extend, since this is meant for learning and tinkering too.

It should also support control from the existing mobile app style workflow and work with a CFclient type controller if possible. If you need to check current docs or examples online, go ahead. Make the project feel complete enough to flash, connect, and fly with clear setup steps for the hardware and firmware.