ESP32, MPU6050, Nidec 24H brushless motors, 500 mAh LiPo battery.
Balancing controllers can be tuned remotely over bluetooth.
Example:
Send p+ (or p+p+p+p+p+p+p+) for increase K1.
Send p- (or p-p-p-p-p-p-p-) for decrease K1.
The same for K2, K3. Send "i", "s".
How to build: