These are the steps I used to get it working:

Configure, compile and flash the NuttX firmware on your ESP32:

$ ./tools/configure.sh esp32-devkitc:sta_softap
$ make download ESPTOOL_PORT=/dev/ttyUSB0

Then in the “nsh>” terminal execute this sequence:

nsh> ifup wlan1
ifup wlan1…OK
nsh> dhcpd_start wlan1
nsh> wapi psk wlan1 MyPassword 1
nsh> wapi essid wlan1 nuttxap 1
nsh> ifconfig
wlan0 Link encap:Ethernet HWaddr 8c:aa:b5:b5:aa:b0 at DOWN
inet addr:0.0.0.0 DRaddr:0.0.0.0 Mask:0.0.0.0

wlan1 Link encap:Ethernet HWaddr 8e:aa:b5:b5:aa:b0 at UP
inet addr:10.0.0.1 DRaddr:10.0.0.1 Mask:255.255.255.0

Now from your smartphone our laptop connect to the “nuttxap” WiFi.