dRehmFlight VS AUnit

Since you mentioned programming, one other thing you should consider is the firmware. FPV drones typically run the betaflight firmware. betaflight is fairly mature, feature-rich and is aimed at racers and freestyle pilots. If you’re looking more to tinker with programing, you could start with this instead of a more standard flight controller: https://github.com/nickrehm/dRehmFlight

I have similar aspirations. No books, but if you want an example of someone who’s done that before, check out drhemflight. It’s not fully autonomous, but it’s a modular flight stabilizer running on teensy, which uses arduino IDE

There's several flight control systems on Github, such as Ardupilot, for example. I wouldn't undertake this without checking out what's already out there, all the way down to simple stabilization systems.

To add to this, most of the time one doesn't need to hack on the drone firmware itself. Just configuring/hacking the mission planner alone would go a long way: https://ardupilot.org/planner/

But if you're interested in more readable codebases without too much legacy headaches:

https://github.com/BossHobby/QUICKSILVER (for indoor drones mostly)

And for even less functionality but a good learning tool kind of codebase:

https://github.com/nickrehm/dRehmFlight

dRehmFlight is about the simplest a flight controller can get (in terms of code readability).

This is actually my own flight controller code running on a teensy 4.0 microcontroller, coded in arduino: https://github.com/nickrehm/dRehmFlight

To give some context, ESPecial is an Arduino based firmware that gives you the possibility to control your esp32 via a web interface or telegram bot, and add dynamically all kind of automations. It’s a bit like ESP-Home, but without the compilation step (and far from having all its features!). It has nice features like web socket, Camera, Matt and more. The thing is that the whole code is not tested, I’m a web developer and never done C++ so when I started that project I just wanted something working for my prototypes. Now that I want the thing to be more robust, I’d like to implement unit/functional tests. I found this: https://github.com/bxparks/AUnit and of course the Expressif IDF page on the subject: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/unit-tests.html But I’m curious about what you guys could suggest, what would be the best option for this project? Thanks for your help!

I‘ve used https://github.com/bxparks/AUnit in combination with the arduino framework. Worked very well.