Grasshopper v1.1

Manned quadcopter that flies like a real drone using thrust vectoring (No gyroscope). There is minimal autopilot, so its a bit tricky to learn.

HOW TO FLY:
Pitch, Roll, and Yaw control the horizontal movement. Throttle controls vertical motion. Neutral thrust is in the range of 55-65% throttle. Avoid sharp changes in pitch/roll!

FLIGHT NOTES:
I recommend using mouse controls for smooth roll/pitch inputs. If you start oscillating, take your hands off the controls. The craft should settle on its own. If you have low framerate or fluctuating framerates, the craft may be less stable. DO NOT FAST FORWARD. 

PHYSICS:
Most quadrotor drones control their position/attitude only through thrust vectoring. The faster you spin a motor, the greater the thrust generated and the greater the moment generated (See the last figure).

To pitch/roll the craft, you can change the net thrust front to back/left to right respectively. Since the direction the rotors spin is flipped, the moments will cancel out.

To yaw the craft, you can change the diagonal thrust. If the diagonal rotors spin faster than the opposite diagonal, then there is a net moment generated which yaws the craft. 

NOTES:
The heart of the craft is the vizzy controller. Check out the (poorly) commented code!

I wasnt sure how to control the motors individually, so I assigned each one to a slider. If there is a way to control components individually please let me know!

The controller still isnt stable with fast-forward, I'm not sure the best way to implement that.

For cargo delivery I attach cargo bays underneath the fuselage.