Does anybody here have experience with building a drone? Specifically with automatic controls?

I am working on one in a team of 2 (I'm on the software side, he's on the hardware side) for a school project.
I have an esp32 and a LSM9DS1 gyro/accelerometer, but I'm struggling with how I could implement an auto steering function.

📍

Do you want to build the main controll board yourself ? Its far easyer ( and cheaper ) to just buy one off the available boards that solves your stabillity controll and feed it higher level commands ( forward, lower, higher ... ). But if you want to build one, good luck to you. Its fun but challenging project.

@Chill Yeah I'm kinda already pretty deep in the drone code, so I really want to make everything myself.

@RedPolygon ok, so can you explain more about the problem? What do you mean exactly by autosteer? And what do you already have working ?

@Chill I can currently directly control the motors. What I want: speed and position control. So you tell the drone "hey, go 2 meter forwards" or "go with 1 m/s at 45 deg" and it calculates the motor values using my input and the gyro/acc input.
Edit: would that be called a feedback loop?

Yes .. this system is closed loop since you can directly measure the real value with acc & gyro.
I would sugest to read about PID regulation you will most definetly want to use it. And make a rig for your drone that wil constrain it in all but one axis so you can focus only on one and experiment on it / tune it ... Then something that will alow 2 axis movement ( roll, pitch for example ) and then you may start trying free flight.
Your first goal is to make that thing stable, so it can maintain hover in one place on its own, or in one axis stable when you starting ..it will be hard but when you will have this, turning and moving is basicaly only telling it you want it stable at not 0 but 15deg so it goes forward.

@Chill Thanks man, I'm gonna try that