ZBM2

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

http://qgroundcontrol.com/

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.

https://ardupilot.org/mavproxy/