Very cool, that was something I was looking into very recently.

I vibe coded a drone simulator that flys drones by simulating ESP32 in the browser where the actual flight controller C code that runs on real ESP32 is running as WebAssembly: https://mrtksn.github.io/liftlab/

So the drones are flying with the actual ESP32 flight controller and you can flash the real ESP32 board directly.