This document is very much a work in progress, None of it is warranted as Correct, Accurate or Optimal.. Suggestions very welcome.
For the moment considering QGC for ground control/planner as runs on Linux and potentially Android
Ardupilot
https://ardupilot.org/ardupilot/index.html
Q Ground Control
ESP 32 ArduPilot Build
https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ESP32/README.md
DRIVER_ICM20948 is not present. https://discuss.ardupilot.org/t/error-building-esp32diy/100710
Now at least builds!
FPV link and perhaps Mavlink2 can provide basic control.
https://github.com/svpcom/wfb-ng/wiki
Ground Station → Mavlink → CB
MavLink Supports basic joystick control. Might be enough to start.
MavLink includes various mesh modes, yet to be explored.
Airport enables mavLink support over ELRS hardware.
Scope of simulating links and models look promising.
MavLink proxy for hands on handling of Mavlink.
Considering a cheap FC already supported by ArduPilot.