What I've done until now.

The diagram above shows what I have been doing since I have started the motor controller. Indeed, it is still only a little bit. The most important part of the work will start now with the design and implementation of the flight controller. The first challenge is to deeply understand the dynamics of a “quadcopter” flight and then select the most appropriate control algorithms.

Basically, the quadcopter is an aerial vehicle and consists of a rigid frame with four motors mounted in the arms of the cross. Two pairs of perpendicular propellers rotate in opposite directions, one pair in a clockwise direction and another in the counter clockwise. When one varies the speed of a motor can change the lift and create motion, as well as increasing or decreasing the speed of the four propellers together generate a vertical motion. Changing the speed of the pair of propellers that run in a counter clockwise direction reciprocally produces roll rotation, along with lateral motion. Likewise, changing the speed of the pair of propellers, that run in a clockwise direction reciprocally produces the pitch rotation and the longitudinal motion. The difference in the counter-torque between each pair of propellers have as a result the yaw rotation.