Drone PCB Board Test

Hello Mike, I don't know of any app or diagnostic for testing small quantity PCB's.
Testing production PCB's is done by creating a 'bed of nails' fixture that contacts the board in multiple points.
Then a software program quickly checks for connections made correctly and incorrect connections.

For a single board I would suggest.
1. check major power and ground runs with DVM.
2. check other critical connections with DVM, those that would cause device failure if wrong.
Such as make sure the process is getting 3.3V and not 5V.
Make sure power ground connections are correct on major IC's
3. build it and see if it works.