[pjc50]

Pi 3 or Zero, perhaps?

The parts aren't really available on the open market, but your best bet might be to get a secondhand phone with a broken screen.

There are also people designing dedicated "arduinocopter" boards and suchlike, which have a microcontroller, motor controllers, and IMU all on board.

[rubber_duck]

>The parts aren't really available on the open market, but your best bet might be to get a secondhand phone with a broken screen.

Yeah I thought about this, will fish around but I'm afraid that if the screen is broken the rest might be damaged too. But even disassembling my phone doesn't seem too expensive if everything works out as expected.