ZP3 improvement Ideas
support for flashing over USB
bootloader idea
add USB port to the board [EE]
install bootloader on chip [EFS]
programmer idea
add stlink chip or FT232RL chip and USB port [EE]
configure openOCD to debug and flash using the onboard chip [EFS]
Use a chip that ardupilot can run on
choose a chip that ardupilot already supports
choose a chip that meets the ardupilot requirements and port ardupilot over to it
Porting to a new flight controller board — Dev documentation