Finally got Marcy 2's microcontroller access point to show up in a scan. The end is still a long way off, but getting transmit & receive going was a pretty big undertaking. Making it not crash is another step.
It basically took 1 month to port the driver & reach this point. Before that, it was 1 month to bring up the board & get JTAG + USB working with a home made programmer. Laying out the board & selecting parts took 1 week.
Just 2 months ago, Marcy 1 had just finished being documented. It was a surprisingly short time. She never flew again.