Here is the modified code and hardware for esp01 running RAVI_BUTANI's cheapest diy WIFI-CONTROLLED-RC-PLANE.
Highlights
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Hardware: Works on esp01's gpio0 and gpio2, both bootstrap pins require pullup on boot, so output is inverted
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Arduino code: Ability to invert outputs and switch gpio pins using define directives
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Android code: Now also works in home networks (for testing). A compiled binary is supplied if you dont want to install processing and android sdk.