How to update the old repo of 'pyDrone' to the current release ?

[greenyleaf]

Got a fun drone, 'pyDone', the firmware of which is based on earlier Micropython, but updated years ago.
Some modules of current release are not inside it, however it adds some other modules, like sensors, and camera support.

The MCU is ESP32-S3, with onboard sensors of MPU6050, HMC5883l, SPL06.

Its repo is https://github.com/01studio-lab/micropython/ .
That is a fork based on earlier Micropython. It supports not only 'pyDrone', but also the 'pyClock' and 'pyController' from their products.

I want to migrate the 'pyDrone' board part, to the current release of Micropython.
I've looked at the folders of ports/esp32 , py-drone, boards/PYBOARDS etc. , but not got much clear with the codes.

I did some file copy; added some .h paths to c include path for complaining about '**.h' no such file.
Now encountered an error, said, some function not defined ...

Any help is welcome~