One of the first flight controllers he coded was in Arduino..
https://github.com/nickrehm/dRehmFlight/tree/master/Versions...
He deliberately kept the code in single file and made sure it was still easy to follow.
That's a big wing airfoil, and it's cheap foam, and it's not as mechanically complex as a helicopter. There is potential here for low-speed heavy lift. I wish they'd included a scale-up of batteries from "Tiny" to "Too heavy to loft", with sustained in place hover times and watts per kilogram as the performance metric.
Ironically, he says at some point in one of his videos 'I'm not a software guy' and next gives a masterclass about how it is done.