New features:

• support for ESP32 SoC
  Primary ESP32 target platform is DoIt DevKit,
  but the firmware is designed to be RF IC pin-compatible with other boards, such as popular "Lora32" combos, etc. Although I do not recommend to buy specifically Heltec V1 & V2 and TTGo V1 due to negative reports on Wi-Fi & RF design and performance.
  I've evaluated TTGo V2 with trustworthy antenna by myself and could say it that has fair RF performance, very similar to that the SoftRF LoRa module has.

Major improvements:

• better FANET+ , "legacy" compatibility
• better NTP time sync in "Tx-Rx test" mode
• alternative GNSS input source
• automatic "mute" of Wi-Fi AP while UAV is in "armed" state

Known issues

• Standalone with NodeMCU:
  default stability of Access Point in Normal mode is still not good enough to apply intensive networking.
  Use workarounds when able.

Binary downloads and flashing instructions

Source code build instructions